Call For Paper Volume:9 Issue:5 May'2022 |

Kinematic Analysis of RSSR spatial mechanism – A Review

Publication Date : 05/04/2017


DOI : 10.21884/IJMTER.2017.4101.3JU0V

Author(s) :

Ravi. K. Patel , Darshil. B. Trivedi.


Volume/Issue :
Volume 4
,
Issue 3
(04 - 2017)



Abstract :

spatial mechanism is a mechanical system that has at least one body that moves in a way that its point trajectories are general space curves. In many applications spatial mechanism has clear advantage on parallel mechanism and robots. RSSR mechanism is used in application like landing gear of JAGUAR Strike air craft, used in place of bevel gears between two shafts in the space. Many method such as iterative technique based on Newton-Raphson method, force fluctuation number, Graphical methods, methods using exponential matrices, screw theory, complex number theory, dual algebra ,D-H parameters, PRBM and other methods used for kinematic analysis of spatial mechanism. D-H parameters are used widely for kinematic synthesis because it assist ease for computer programming. In this paper critical review on this methods has been carried out. As D-H parameters method can directly applied to mechanism having joints like Prismatic, revolute, cylindrical and helical but it cannot directly applied to mechanism consisting spherical joints. Study shows that there is scope of kinematic analysis using extended D-H parameters, and most of the work focus on path generation so work can also done in velocity and acceleration analysis. Present study motivate researchers to work on presented research work.


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Kinematic Analysis of RSSR spatial mechanism – A Review

March 31, 2017