AN ANALYTICAL APPROACH TO LOCATE THE SECONDARY INSTANTANEOUS POLES OF SINGLE-DOF INDETERMINATE SPHERICAL MECHANISMS

摘要

In spherical mechanisms, the instantaneous poles have the same function as the instant centers in planar mechanisms. So they can be used for kinematic analysis of spherical mechanisms, as the instant centers are for planar ones. The first step to make the instantaneous poles applicable for this analysis is the determination of the position of these poles. This paper presents a new analytic technique for locating the secondary instantaneous poles of single-degree-of-freedom spherical mechanisms. The proposed method does not rely on any velocity information or graphical techniques. Therefore, it can be applied systematically to all types of indeterminate single-degree-of-freedom spherical mechanisms.