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A slider-crank linkage is a four-bar linkage with three revolute joints and one prismatic, or sliding, joint. The rotation of the crank drives the linear movement the slider, or the expansion of gases against a sliding piston in a cylinder can drive the rotation of the crank. There are two types of slider-cranks: in-line and offset. In-line
N = 2, j = 1: this is a two-bar linkage known as the lever; N = 4, j = 4: this is the four-bar linkage; N = 6, j = 7: this is a six-bar linkage [ it has two links that have three joints, called ternary links, and there are two topologies of this linkage depending how these links are connected. In the Watt topology, the two ternary links are ...
Link 1 (horizontal distance between ground joints): 4a Illustration of the limits. In kinematics, Chebyshev's linkage is a four-bar linkage that converts rotational motion to approximate linear motion. It was invented by the 19th-century mathematician Pafnuty Chebyshev, who studied theoretical problems in kinematic mechanisms.
For many purposes approximate linear motion is an acceptable substitute for exact linear motion. Perhaps the best known example is the Watt four bar linkage, invented by the Scottish engineer James Watt in 1784. [3] This type of linkage is one of several types described in Watt's 28 April 1784 patent specification.
A Chebyshev Translating Table Linkage, which combines together two cognate linkages: the Chebyshev Linkage and Chebyshev Lambda Linkage. In kinematics, the Chebyshev Lambda Linkage [1] is a four-bar linkage that converts rotational motion to approximate straight-line motion with approximate constant velocity. [2]
Two cranks designed in this way form the desired four-bar linkage. This formulation of the mathematical synthesis of a four-bar linkage and the solution to the resulting equations is known as Burmester Theory. [3] [4] [5] The approach has been generalized to the synthesis of spherical and spatial mechanisms. [6]
An example of a simple open chain is a serial robot manipulator. These robotic systems are constructed from a series of links connected by six one degree-of-freedom revolute or prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR spatial four-bar linkage.
The former ground link of the fusing 4-bar linkage becomes a rectilinear link that travels follows the same coupler curve. Each of these paired six-bar cognate linkages can also be converted into another cognate linkage by flipping the linkage over, and switching the roles of the rectilinear link and the ground link.