POSITION ANALYSIS OF PLANAR LINKAGES WITH R-PAIRS USING A GEOMETRICAL-ITERATIVE METHOD

摘要

In this communication, a general method to solve the forward position problem and the finite displacement problem in single and multiple degree of freedom planar linkages is presented. This method has been named the Geometrical-Iterative Method (GIM). It is based on the use, in successive iterations, of a geometrical solving algorithm. The iteration sequence is determined using a series of conditions rules and criteria in order to achieve the convergence of the problem. This method has been implemented in a general-purpose program developed by the authors. Some illustrative examples are presented using planar linkages with revolution joints (R-pairs).