Design of adjustable of RSSR-SC mechanisms for multi-phase motion generation

This paper presents a technique for synthesizing adjustable RSSR-SC mechanisms to achieve phases of prescribed rigid body positions. The benefit of this method is that RSSR-SC mechanisms can be synthesized to achieve multiple phases of prescribed rigid-body positions using the same hardware. By specifying the joint axes of the C-S and R-S links and establishing perpendicularity between these links and their corresponding joint axes, the constant length condition becomes the only design constraint for these links. The prescribed rigid-body positions are then incorporated in the link constraint Equations with respect to the prescribed coordinate frame for each link and the RSSR-SC mechanism joint variables calculated. The example problem in this work considers a two-phase moving pivot adjustment problem with fixed and adjustable crank and follower lengths.