A dynamic analysis of planar mechanisms with consideration of layer arrangements of moving links.

The influence of layer arrangements of moving links upon the dynamic characteristics of mechanisms is one of the important problems which must be solved for the improvement of performances of mechanisms. In this paper, on planar mechanisms consideration is given to layer arrangements of moving links, and equations of motion of the mechanisms taking account of elastic deformations of links are formulated by dividing moving links into several components which consist of distributed mass. Applying the equations to planar four-bar mechanisms whose coupler and follower are elastic links, we discuss the influences of the profiles and elastic deformations of links and the differences of layer arrangements of moving links upon the link displacements from the ideal planes of motion of links together with the results of experiments.