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3 authors, including:
Lei Cui
Jian S Dai
Curtin University
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Characteristics of the double-cycled motion-ruled surface of the Schatz linkage based on differential
geometry
Lei Cui, Jian S Dai and Chung-Ching Lee
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science published
online 15 July 2014
DOI: 10.1177/0954406214541430
The online version of this article can be found at:
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[18]
[PREPRINTER stage]
(PIC)
Original Article
Abstract
This paper applies Euclidean invariants from differential geometry to kinematic properties of the ruled surfaces generated
by the coupler link and the constraint-screw axes. Starting from investigating the assembly configuration, the work
reveals two cycle phases of the coupler link when the input link finishes a full rotation. This leads to analysis of the motion
ruled surface generated by the directrix along the coupler link, where Euclidean invariants are obtained and singularities
are identified. This work further presents the constraint ruled surface that is generated by the constraint screw axes and
unveils its intrinsic characteristics.
Keywords
Over-constrained mechanism, ruled surface, Euclidean invariants, differential geometry
Date received: 11 October 2013; accepted: 16 May 2014
Introduction
Schatz linkage was discovered as Paul Schatz unveiled
in 1929 the invertible cube from the Platonic solids.
The invertible cube has the astounding property of
invertibility while the Schatz mechanism provides a
perfect dynamic balance of both centripetal and centrifugal forces as Turbula patented in 1971 as the only
widely-used overconstrained linkages in industry,
mainly used as spatial mixing-machines.1
The Schatz linkage consists of six revolute joints
and is able to move in a three-dimensional space. As
one of the overconstrained mechanisms which have
mobility over a nite range of motion without satisfying the GrublerKutzbach mobility criterion, the
motion is generated from a special geometric arrangement of joint axes. Study of overconstrained mechanisms and their geometric properties has inspired many
engineers and researchers over the past one and half
centuries. In 1853, Sarrus2 presented the rst spatial
overconstrained linkage with two sets of joints each of
which consists of three parallel joints. In 1903,
Bennett3 put forward a spatial 4R linkage with each
joint axis perpendicular to the two adjacent links connected and in 1905 he proposed the condition4 for the
linkage to have a single degree of mobility. This led to
a 6R overconstrained linkage5 by combining two
spherical 4R linkages. In 1927, Bricard6 identied
six mobile 6R overconstrained linkages including the
line-symmetric loop, plane-symmetric loop, orthogonal chain, plane-symmetric octahedral chain,
doubly-collapsible octahedral chain, and plano-spherical hybrid chain. In 1931, Myard7 produced a planesymmetric overconstrained 5R linkage. In 1943,
Goldberg8 obtained a 5R overconstrained linkage by
combining a pair of Bennett linkages in a way that a
link common to both was removed and a pair of adjacent links were rigidly attached to each other. In 1954,
Altmann9 presented a 6R linkage which was a special
case of the Bricard line-symmetric linkage. In 1968,
Waldron10 suggested that any two single-loop linkages with a single degree of freedom could be
arranged in space to make them to share a common
axis and further exemplied a 6R overconstrained
mechanism made from two Bennett linkages. The
mechanism is connected in a way that each of the
Bennett linkages has a revolute joint that is collinear
to the other. In 1975, Schatz11 patented Schatz linkage
which was identied as a special trihedral Bricard
linkage.
(PIC)
[18]
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p
3 cos 1 sin 2
p
3 cos 6 sin 5
sin 2 cos 5 0
1
2
Assembly configurations
For a general spatial close-loop linkage consisting of
all revolute joints having one degree of freedom, seven
joints are the minimum number required. With
respect to the Schatz linkage that has only six revolution joints, certain geometric constraints are to be
satised for being mobile. This leads to the dimension
constraints with two assembly congurations.
The Schatz linkage in Figure 1 requires that the
links A2A3, B2B3, and A3B3 have
pthe same length a
and the length of link A1B1 is 3a. The links A1A2
and B1B2 have the same length d. Further, each of the
joint axes from A2 to B2 is perpendicular to its adjacent two axes and joint axis A1 is parallel to B1. Link
A3B3 is termed coupler link in the paper.
(PIC)
[18]
[PREPRINTER stage]
Cui et al.
cos
:
5
4 3 cos2 1
>
2 sin 1
>
>
>
: cos 6 p
4 3 cos2 1
7
Assembly conguration 2 is produced when the
following is satised as
8
1
>
>
> sin5 p
<
4 3cos2 1
p
,
>
3 sin1
>
>
: cos5 p
4 3cos2 1
8
2
- to
8
1 p
>
>
< sin2 4 3cos2 1
2p
,
>
>
: cos2 3 cos1
2
8
cos1
>
>
>
< sin6 p
4 3cos2 1
2sin1
>
>
>
: cos6 p
4 3cos2 1
-2
5
0
- to
8
1 p
>
2
>
>
< sin 2 2 4 3 cos 1
,
p
>
>
3
>
: cos 2
cos 1
2
8
cos 1
>
>
sin 6 p
>
>
<
4 3 cos2 1
Cycle phases
0
-2
1 = 0 to 2
A2
B2
B3
A1
A3
B1
[18]
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(PIC)
p
3 1 3 sin4 1
2 4 3 cos2 1
7
6
7
6
7
6 p
2
6 3
3 3 sin 1 7
7
6
cos 1 sin 1
e1 6
7
4 3 cos2 1 7
6 2
7
6
7
6
1 3 sin2 1
5
4
p
2
2 4 3 cos 1
1
00
60
200
10
400 600
00
A3
B3
B3
1600
B3
A3
A3
A3
B3
(a)
zc
600
xc
(b)
xc
zc
crank
crank
Figure 5. (a) The configuration of the coupler as a rigid body when 1 is at 0; (b) configuration of the coupler as a rigid body when 1
is at .
(PIC)
[18]
[PREPRINTER stage]
Cui et al.
11
200
400
e1
M1 ra 1 ue1 1
3
2
p
3a 2
sin 1
7
6
2
7
6
7
6 p
7
6
3a
7
6
6
sin 1 cos 1 7
7
6
2
7
6
7
6 p
5
4 a 4 3 cos2
1
d
2
p
3
2
3 1 3 sin4 1
7
6
2 4 3 cos2 1
7
6
7
6 p
7
6
2
7
6 3
3
3
sin
1
7
6
cos
sin
u6
1
1
2
4 3 cos 1 7
7
6 2
7
6
7
6
2
1 3 sin 1
5
4
p
2 4 3 cos2 1
12
00
1600
(a)
200 400
00
A3
M
900
geodesic curvature of e1
Start point
B3
0
-1
(b)
0
20 0 40 Singular Points
-2
00
-3
1600
-4
A3
1 = 0 to 2
Figure 8. Values of geodesic curvature of the spherical indicatrix e1 along the coupler link.
B3
[18]
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(PIC)
0.05
$2
$3
$4
$5
$6
13
where
-0.05
3
4
1 = 0 to 2
Figure 10. Values of the distribution parameter of the coupler-link rued surface.
0.1
The values of
$1
0.05
0
-0.05
-0.1
1 = 0 to 2
3
2
s
7
6
7
6 0 7
6
7
6
6 c 7
7
7
6
6
7
7
6
6
6 1 7
6 0 7
7
7
6
6
7
7,
6
$1 6
7
6 0 7, $2 6
7
6
6 dc 7
7
6 p 7
6
7
7
6
6
6 3a 7
6 ds 7
7
5
6
4
2 5
4
0
0
2
2
3
3
2s
1
ck
2
6
6
7
7
k
2
6
6
7
7
6
6
7
7
c
6
6
7
7
1
6
6
7
7
sk
2
k
6
6
7
7
2
6
6
7
7
p
p
6
6
7
7
3s
6
6
7
7
3
c
6
6
7
7
6
6
7
7
k
2
6
6
7
7
$3 6
,
$
6
7
7,
4
2
6 1
6 c 3ac 4a dk 7
7
6 s2a dk 7
6
7
6 2
6
7
7
k3
6
6
7
7
6
6 2
7
7
6 1
6 s 3ac 4a 4dk 7
7
6 ca 2dk 7
6
7
6 4
6
7
7
2k3
6
6
7
7
6
6
7
7
p
4
4
5
5
3a
3ac
sk
4
2k2
2 c 3
0
6 k 7
7
6
6 2s 7
6 7
7
6
6 k 7
7
6
6 0 7
7
6
7
6
7,
2ds
$5 6
7
6
6 k 7
7
6
7
6
6 dc 7
7
6
6 k 7
7
6
6 p 7
4 3as 5
7
6
6 0 7
7
6
7
6
7
6
6 1 7
7
6
7
$6 6
6 0 7
7
6
6 p 7
6 3a 7
7
6
6 2 7
5
4
0
dM
e3
ds
14
where
s, c, and k represent sin1, cos1, and
p
4 3 cos2 1 , respectively.
The reciprocal screw can be obtained by the cofactor approach30 as follows
2
p
3k
7
6
7
6
0
7
6
7
6
2
7
6
3c 2
7
T T T 6
r
p
7
6
$ w ,v 6
7
2
3
asc
7
6 p
6
7
7
6 3 2
6
a c 2 2dk 7
5
4 2
0
15
[18]
[PREPRINTER stage]
(PIC)
Cui et al.
Base curve f
pitch
0.5
0
Striction curve M
-0.5
-1
1 = 0 to 2
160 0
170
100
20
200
0
d2 e1
e3
ds2
Base curve f
M f uI1
21
where
Its pitch is
w v 6aksc
p
ww
N
u
16
where
N 16 21c2 9c4
17
2dk
ac
7
6 3
7
p
wv 1 6
7
6
f
6
8 3 2
7
7
w w N6
a 3c 2 sc
5
4
3
2
2
2 kac 6dc 2ka 8d
2
18
Thus, the constraint ruled surface with the above base
curve is given in Figure 13.
The constraint ruled surface directrix can be
obtained as
w
w
I1 p p
ww
N
19
f_ I_1
I_1 I_1
22
Conclusions
This paper presented two assembly congurations of
the Schatz linkage using dierential geometry.
Focused on the assembly congurations, the paper
revealed for the rst time two cycle phases of the linkage each of which completes the whole cycle of the
ruled surface of the indicatrix along the coupler link
when the input angle experiences half of the 2 range.
The study demonstrated that when the indicatrix e1
along the coupler link completes the cycle twice, the
coupler link as a rigid body has a full rotation with
input angle in the 2 range.
The phase study led to investigation of the ruled
surface of the coupler link with Euclidean invariants
of both indicatrix and geodesic curvatures. It was
found that the shape of the striction curve of the coupler-link ruled surface was alike to two raindrops
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[18]
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Conflict of interest
None declared.
References
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Mouvements Rectilignes Alternatifs,En Mouvements
Circulaires, Et Reciproquement. Academie Sci 1853;
36(1): 10361038.
3. Bennett GT. A new mechanism. Engineering 1903;
76(999999): 777778.
4. Bennett GT. The parallel motion of Sarrus and some
allied mechanisms. Philos Mag 1905; 6(9): 803810.
5. Bennett GT. The skew isogram mechanism. Proc Lond
Math Soc 1914; 23(1): 151173.
6. Bricard R. Lecons De Cinematique. Tome II
Cinematique Appliquee, 1927, pp.712.
7. Myard FE. Contribution A` La Geometrie. Soc
Mathemat de France 1931; 59(1): 183210.
8. Goldberg M. New five-bar and six-bar linkages in three
dimensions. ASME 1953; 65(1): 649663.
9. Altmann PG. Communications to Grodzinski, P. And
Mewen, E, Link mechanisms in modern kinematics.
Proc Instn Mech Engrs 1954; 168(37): 889896.
10. Waldron KJ. Hybrid overconstrained linkages. J Mech
1968; 3(2): 7378.
11. Schatz P. Rhythmusforschung Und Technik. Stuttgart:
Verlag Freies Geistesleben, 1975.