One of the most popular mathematical tools in the fields of robotics and mechanisms is the Denavit-Hartenberg (DH) notation (Denavit and Hartenberg, 1955, J. Appl. Mech., 77, pp. 215–221). It is valid only for mechanisms containing prismatic, revolute, helical, and cylindrical pairs, but cannot be applied to spherical pairs. This paper presents an extended DH notation that includes spherical pairs, consequently allowing the required independent parameters of any spatial binary mechanism to be listed for purposes of analysis and synthesis. Further, the interference-free region with maximum ball-retention capability of a socket in a spherical pair can be determined analytically. Extended DH notation can systematically model arbitrary binary mechanisms with spherical pairs, simplifying their design and study.
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e-mail: seznof@cc.feu.edu.tw
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April 2007
Technical Briefs
A New Method to Analyze Spatial Binary Mechanisms With Spherical Pairs
Psang Dain Lin,
Psang Dain Lin
Professor
Department of Mechanical Engineering,
National Cheng Kung University
, Tainan 701, Taiwan
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Jung-Fa Hsieh
Jung-Fa Hsieh
Associate Professor
Department of Mechanical Engineering,
e-mail: seznof@cc.feu.edu.tw
Far East University
, Tainan 744, Taiwan
Search for other works by this author on:
Psang Dain Lin
Professor
Department of Mechanical Engineering,
National Cheng Kung University
, Tainan 701, Taiwan
Jung-Fa Hsieh
Associate Professor
Department of Mechanical Engineering,
Far East University
, Tainan 744, Taiwane-mail: seznof@cc.feu.edu.tw
J. Mech. Des. Apr 2007, 129(4): 455-458 (4 pages)
Published Online: March 29, 2006
Article history
Received:
March 11, 2005
Revised:
March 29, 2006
Citation
Lin, P. D., and Hsieh, J. (March 29, 2006). "A New Method to Analyze Spatial Binary Mechanisms With Spherical Pairs." ASME. J. Mech. Des. April 2007; 129(4): 455–458. https://doi.org/10.1115/1.2437782
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