Showing papers in "Mechanism and Machine Theory in 1978"

TL;DR: In this paper, a new type of soft gripper which can softly and gently conform to objects of any shape and hold them with uniform pressure is presented, which is realized by means of a mechanism consisting of multi-links and series of pulleys which can be simply actuated by a pair of wires.

TL;DR: In this article, the authors describe two premieres qui correspondent aux mecanismes les plus importants du point de vue des possibilites d'applications.

TL;DR: In this article, a general approach is described for deriving the equations of motion of planar linkages in high-speed machinery, based on the well-known displacement finite element method is used to develop the mass and stiffness properties of an elastic linkage.

TL;DR: In this paper, the authors discuss some properties of friction and critically assesses several possible methods of incorporating these into automatic mechanism programs, and select a method, its compromises and its incorporation into a particular computer program DRAM.

TL;DR: In this article, the effect of link flexibility on impact forces in mechanical systems has been investigated experimentally, and the validity of the analytical studies and the mitigating effects of the link flexibility have been established.

TL;DR: In this paper, a method to resolve the ambiguity in Waldron's solution to the order problem of planar Burmester synthesis by inspection of an image pole circle is presented.

TL;DR: In this paper, the force balance conditions of multi-degree of freedom multi-bar planar linkages with both revolute and prismatic joints are derived from three equations from which the force imbalance conditions can be obtained.

TL;DR: In this paper, a methode for the conception of mecanismes a quatre tiges ajustables which produce des couplages de couplage avec des points de rebroussement is presented.

TL;DR: In this paper, a methode for the conception des mecanismes ajustables a quatre tiges qui realisent des courbes de couplage symetriques a point double.

TL;DR: In this article, the authors extended Berkof and Lowen's root-mean-square (RMS) shaking moment optimization of a force balanced in-line 4R 4-bar linkage to the problem of force-RMS moment balancing by mass redistribution.

TL;DR: In this article, a method for automatic setting of differential equations of motion for complex kinematic chains is presented, suitable for the synthesis of locomotion mechanisms, which can be applied in manipulation mechanisms.

TL;DR: In this article, a method for solving the 5-bar linkage problem is presented, which simplifies the analysis of linkages which contain screw joints, a considerable stumblingblock for earlier researchers.

TL;DR: In this paper, explicit formulas for the evaluation of the instantaneous invariants for a given motion are derived for the application of the theory of mechanism synthesis for higher order approximations to a practical level where a mechanism designer can readily use this elegant and computationally efficient theory for designing motion generating or function generating fourbar mechanisms.

TL;DR: In this paper, the three multiply separated position concepts developed in detail in [1] are extended here to include four and five positions, and complete the spherical equivalent of Burmester Theory for coplanar motion.

TL;DR: In this article, a screw system theory is used to determine the chain configurations for which the absolute motion of an arbitrarily selected point of a linkage instantaneously ceases, where the position and pitch of the reciprocal screws of the loop's ESS at a limit position are specified.

TL;DR: In this article, the rotatability of the geared cranks and the optimization of transmission characteristics of geared 5-bar linkages were investigated, and an efficient computer-aided procedure was used for the general case and for the development of design charts.

TL;DR: A method is developed for locating regions of the Burmester circle-point curve which give the driving cranks of crank-rocker or drag-link linkages when combined with a given driven crank.

TL;DR: This Part of the paper applies the technique outlined in Part I to examine all 5-bar loops containing lower pairs, for all combinations of parallel adjacent joint axes, with a view to isolating the linkages which have mobility one, but are free from part-chain mobility.

TL;DR: A probabilistic method is outlined for obtaining the variances in displacement, velocity and acceleration of followers in cam mechanisms for any given manufacturing tolerance on the cam profile using stochiastic techniques including finite differences and the maximum likelihood method.

TL;DR: In this paper, the design equations for complete shaking force balancing of commonly used planar Stephenson's and Watt's type 6R 6-bar and 6bar slider-crank regular force transmission mechanisms using the method of linearly independent mass vectors are presented.

TL;DR: The present work deals only with those special cases that are characterized by parallel or intersectingRotational axes or rotational axes that are parallel to a plane and similar cases.

TL;DR: In this article, the generalised 4-link RSSR mechanism is analyzed, which is kinematically equivalent to the more general 7-link spatial R R mechanism, and joint arrangements represent, respectively, two and three co-intersecting revolute pairs.

TL;DR: In this paper, general formulations for the design of 4-bar linkages for the crank-angle coupler-point coordination and rigid body guidance problems were developed for a number of problems.

TL;DR: In this paper, a general theory for the analysis of the direct problem of the statics and dynamics for a large class of systems of rigid bodies is proposed, known as homokinetic ball joints.

TL;DR: In this article, it was shown that the general plane-symmetric 5-bar is itself a special case of another 5bar group, possessing a plane of quasisymmetry, but basically defined by having two pairs of adjacent screw axes parallel.

TL;DR: In this paper, the contact between the vehicle and the shaft is distributed among a series of roller followers mounted on a development of a Sarrus mechanism, reducing the problems causing the size and expense.

TL;DR: In this article, a study of the s principal directions running in unsymmetric bearings having fixed common principal planes is presented, and it is shown that new regions of instability are possible if the Euler-Bernoulli theory is used for analysis.

TL;DR: Triangular nomograms have been constructed as a simple means of finding symmetrical coupler curves of the crank-rocker linkage as discussed by the authors, which are dimensionless and have three angles as parameters to determine the type of curve with all its properties.

TL;DR: In this article, the points in a 4-bar which have one or more double points in their path are mapped out and it is found these regions are defined by the centrodes of the linkage and by the transition curves.