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Five Bar Spherical Linkage

IP.com Disclosure Number: IPCOM000086946D
Original Publication Date: 1976-Nov-01
Included in the Prior Art Database: 2005-Mar-03
Document File: 2 page(s) / 40K

Publishing Venue

IBM

Related People

Carmichael, MW: AUTHOR

Abstract

Fig. 1 illustrates how a five-bar spherical linkage may be manufactured from flat disc 1 of material. Radii 2 to 7 define segments 8 to 13. Segments 9 and 12, both 90 degrees, will constitute two cranks of the linkage. Segments 10 and 11, both 60 degrees, will constitute two coupler links. Segments 8 and 13 constitute tabs through which the assembly may be secured to a plane constituting the fifth bar of the linkage.

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Five Bar Spherical Linkage

Fig. 1 illustrates how a five-bar spherical linkage may be manufactured from flat disc 1 of material. Radii 2 to 7 define segments 8 to 13. Segments 9 and 12, both 90 degrees, will constitute two cranks of the linkage. Segments 10 and 11, both 60 degrees, will constitute two coupler links. Segments 8 and 13 constitute tabs through which the assembly may be secured to a plane constituting the fifth bar of the linkage.

To form the assembly, radius 2 is cut, radii 3, 4, 6 and 7 are scored and bent concavely to form hinges, and radius 5 is scored and bent convexly to form a hinge. Fig. 2 is a bottom plan view of the assembly. Tabs 8 and 13 are secured to a plane 14 with hinges 3 and 7 orthogonal to one another. Fig. 3 is a sideview in direction III of Fig. 2, and fig. 4 is a sideview in direction IV of Fig. 2. A joystick 15, protruding through an aperture in plane 14 is secured to either of coupler links 10 and 11. The joystick, which is vertical in its "home" position, is free to move through a solid angle of about 60 degrees.

Movement of joystick 15 in a vertical plane along hinge 3 causes rotation of crank 12 about hinge 7, with crank 9 effectively stationary. Similarly, movement of joystick 15 in a vertical plane along hinge 7 is coupled to crank 9 which rotates about hinge 3, crank 12 remaining effectively stationary.

By attaching encoders to cranks 9 and 12 to measure their rotation about hinges 3 and 7, respectively, the two orthogon...