Synthesis of Spatial Mechanism UR 2SS for Path Generation

Abstract

This article presents a new spatial mechanism with single degree of freedom (DOF) for threedimensional path generation. The path can be defined by prescribing at most seven precision points. The moving platform of the mechanism is supported by a UR (universalrevolute) leg and two S–S (spherical–spherical) legs. The driving unit is the first axis of the universal pair. The UR leg is synthesized first with the problem of order defects being considered. Precision points then lead to prescribed poses of the moving platform. Two S–S legs are then synthesized to meet these poses. This spatial mechanism with a given input is analogous to a planar kinematic chain so that all possible configurations of the spatial mechanism can be constructed. A strategy consisting of three stages for evaluating branch defects is developed with the aid of the characteristic of double configurations and the technique of coding three constituent fourbar linkages. Two numerical examples are presented to illustrate the design, the evaluation of defects, and the performance of the mechanism.