KINEMATIC ANALYSIS OF A CHEBYSHEV SET OF APPROXIMATE CIRCLE-TRACING MECHANISMS

Abstract

A set of four approximate circle-tracing mechanisms, discovered by Chebyshev, are analyzed and the possibility to receive some information on the accuracy of the coupler point trajectories of this set is examined. Furthermore, the paper provides kinematic algorithms to investigate angular accelerations and jerks of the followers and of the couplers of these four-bar linkages. The geometrical and kinematic results might be useful if the iIIustrated devices are used as robotic arms. Finally, the complete series of the coupler points trajectories and the kinematical characteristics are plotted and discussed.