Study on Structure and Kinematics of Quick-Return Mechanism with Four-Bar Assur Group
The presented study shows results of structural and kinematic analysis of a planar six-bar quick-return mechanism that is used in shaping and planing machines for transformation of rotational motion of a driving link into prismatic motion of an end-effector. Assur groups of the III and II classes have been separated out from a quick-return mechanism when different driving links have been chosen during a structural analysis. Kinematic analysis has been carried out by grapho-analytical method for the case when a four-bar Assur group is included. Finally, 3D model has been simulated and coordinates of distinguished points of movable links have been found in six positions of the mechanism depending on the rotation of a driving link. The obtained results can be used in kinetostatic and dynamic analysis of the quick-return mechanism. The findings of the study can also be used in a design of planning and shaping machines, in synthesis and analysis of novel planar mechanisms.
KeywordsQuick-return mechanism Assur group Degree-of-freedom Kinematic pair
The study has been carried out with the support of the Russian President Scholarship according to the research project SP-3755.2016.1.
- 5.Glazunov V et al (2013) 3-DOF translational and rotational parallel manipulators. In: Viadero-Rueda F, Ceccarelli M (eds) EUCOMES 2012, 4th European conference on mechanism science. New trends in mechanism and machine science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht, pp 199–207Google Scholar
- 7.Laryushkin P et al (2014) Singularity analysis of 3-DOF translational parallel manipulator. In: Ceccarelli M, Glazunov V. (eds) ROMANSY 2014 XX CISM-IFToMM symposium on theory and practice of robots and manipulators, Moscow, 23–26 June 2014. Mechanisms and Machine Science, vol 22. Springer, Cham, pp 47–54Google Scholar
- 8.Monkova K et al (2011) Kinematic analysis of quick-return mechanism in three various approaches. Tech Gazette 18(2):295–299Google Scholar
- 10.Dvornikov L (2008) K voprosu o klassifikacii ploskih grupp Assura (On the classification of planar Assur groups). Theory Mech Mach 2(6):18–25Google Scholar
- 11.Peisakh EE (2007) An algorithmic description of the structural synthesis of planar Assur groups. J Mach Manuf Reliab 6:3–14Google Scholar
- 14.Uicker J, Pennock G Jr, Shigley J (2011) Theory of machines and mechanisms, 4th edn. Oxford University Press, New YorkGoogle Scholar
- 16.Cha S-H, Lasky T, Velinsky S (2007) Singularity avoidance for the 3-RRR mechanism using kinematic redundancy. In: Proceedings of IEEE international conference on robotics and automation, Roma, Italy, 10–14 Apr 2007Google Scholar
- 19.Dvornikov L (2004) O kinematicheskoj razreshimosti ploskoj chetyrehzvennoj gruppy Assura chetvertogo klassa grafo-analiticheskim metodom (On the kinematic solvability of the planar Assur group of the fourth class by grapho-analytical method). Proceedings of Higher Educational Institutions. Mach Build 12:9–15Google Scholar