Design of R-C-C-R spatial mechanism

An analysis to design a particular R-C-C-R spatial mechanism was developed using tensor notations and operations. This specific R-C-C-R spatial mechanism can be used to couple two shafts intersected at a skew angle with constant rotating speed ratio. This skew angle, or bending angle of the two shaft, may vary from 30 up to 180 degrees. The governing equations of relative positions of the mechanism were formulated as a function of two variables: the bending angle of the shafts and the rotating angle of the input link. To exemplify the various design conditions, the design parameter versus the bending angle was tabulated. To ensure dynamic stability of the system, a symmetrical design was considered. A modified R-C-C-R mechanism was also suggested to couple shafts of varying intersection angles. This mechanism may replace the bevel gear, Hook\u27s joints, or other kinematic pairs for the purpose of indirect transmission. In order to exemplify the convenience of tensors in kinematic analysis, the investigation of the instantaneous relationship between input and output links of eight feasible mechanisms (in appendix) were included. Kinematic solutions were also discussed and computerized for a R-C-R-C-R spatial mechanism --Abstract, page i