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Five Bar Spherical Linkage Mechanism

IP.com Disclosure Number: IPCOM000086945D
Original Publication Date: 1976-Nov-01
Included in the Prior Art Database: 2005-Mar-03
Document File: 2 page(s) / 35K

Publishing Venue

IBM

Related People

Carmichael, MW: AUTHOR

Abstract

Fig. 1 is an isometric view of a spherical five-bar linkage mechanism, while Fig. 2 illustrates how the linkage may be assembled from a flat piece of material.

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Five Bar Spherical Linkage Mechanism

Fig. 1 is an isometric view of a spherical five-bar linkage mechanism, while Fig. 2 illustrates how the linkage may be assembled from a flat piece of material.

Starting with square sheet 1 of material, diagonals 2, 3 and 4 and lines 5 and 6 are scored to form five hinges. To assemble, hinges 5 and 6 are aligned and secured to substrate 12. The symmetrical linkage thus derived has confocal hinged axes with cranks 7 and 8 and coupler links 9 and 10 composed of right- angled isosceles triangles. Joystick 11, aligned with hinge 3 is secured to coupler link 9 (or, alternatively, to coupler link 10). In the "home" position, hinge 3 is vertical, and cranks 7 and 8 are parallel to substrate 12 which constitutes the fifth bar.

When joystick 11 is moved in direction Phi IN, which is in the plane of coupling link 9, crank 7 will rotate about hinge 6 with no movement of crank 8 about hinge 5. When joystick 11 is moved in direction Psi IN which is in the plane of coupling link 10, crank 8 will rotate about hinge 5 with no movement of crank 7 about hinge 6. When joystick 11 is moved in a direction other than Phi or Psi, both cranks 7 and 8 will rotate to resolve the movement into its two components. Movement of cranks 7 and 8 is measured by encoding the rotation of shafts 14 and 13 lying along hinges 6 and 5, respectively.

The property of resolving the movement of joystick 11 and shafts 13 and 14 is satisfactory, provided the joystick is co...