Orientation Order Analysis of Spherical Four-Bar Mechanisms

Abstract

In this paper, we present a novel methodology for orientation order analysis of spherical RR dyads. The methodology is a spherical generalization of the recent works of Myszka, Murray, and Schmiedeler for assessing position order of planar RR dyads. The objective of the methodology is to determine if a prescribed fixed axis location for a spherical RR dyad will result in the dyad guiding a moving rigid-body through a set of finitely separated spherical orientations in the desired order (e.g., 1, 2, 3, 4, etc.). The planar propeller methodology of Myszka, Murray, and Schmiedeler is extended to yield a spherical hoop methodology. The result is a useful tool to determine if a given spherical RR dyad will guide a moving body through a set of prescribed orientations in the desired order. Finally, we demonstrate the utility of the hoop method for order analysis of spherical RR dyads in two case studies.