Acceleration Analysis of Spatial Linkages Using Axodes and the Instantaneous Screw Axis

Abstract

The application of recent techniques developed in the geometry and the kinematics of instantaneous spatial motion generated by a pair of axodes, and the relative spatial motion of three rigid bodies using the instantaneous screw axis is demonstrated in an analysis of the Bennett Mechanism. Explicit equations which are well suited to machine calculations yield input-output information, the location and the properties of the instantaneous screw axis, the characteristic properties of the axodes, the velocity and the acceleration of a general point in the moving link, and the position of the center of acceleration in the moving link.