Analysis and Optimal Synthesis of the RSCR Spatial Mechanism

A closed form solution of the analysis ofthe RSCR (Revolute-Spherical-CylindricalRevolute) spatial mechanism is presented in this paper. This work is based on the geometric characteristics of the mechanism involving the following three cases: the cone, the cylinder, and the one-sheet hyperboloid. These cases derive their names from the nature of the locus of the slider of the linkage as viewed from the output side. Each case is then treated separately to develop a closed form, geometry based analysis technique. These analysis modules are then used to optimally synthesize the mechanism for function, path and motion generation problems satisfying precision conditions within prescribed accuracy limits. The Selective Precision Synthesis technique is employed to formulate the nonlinear inequality constraints. These constraints along with an objective function and other constraints are solved using the Generalized Reduced Gradient method of optimization. In addition, mobility charts are used to aid the designer in making a judicious choice for the initial design point before invoking the optimization method. Numerical examples are presented to validate the theory. This new closed form method of analysis that is based on geometric characteristics is computationally less intensive than other available techniques for spatial mechanism analysis and helps in the visualization of the physical mechanism; something that is not possible with most vector and matrix methods.