Abstract

This paper presents the static analysis of general spherical nR simple open or closed kinematic chains with joint friction. The internal loading on each link is found to consist of a bending moment and a torsional moment. The goal of this analysis is to determine these moments which are then used in designing the link.

The moment and force balance equations for each link yields a linear system of equations which define the internal moments of the mechanism and the output torque on the driven crank for a given input torque. A Coulomb model of joint friction is used to determine the friction torque along the axis of a joint. The joint friction model requires an iterative solution.

The purpose of this algorithm is to provide a means of computing the complete internal and external loading on the members of spherical chains while including frictional effects in order to facilitate the design of a functional spherical mechanisms.

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