STEADY-STATE RESPONSES OF AN RSRC-TYPE SPATIAL FLEXIBLE LINKAGE

This paper presents an analytical and experimental investigation on th e steady-state responses of an RSRC-type spatial flexible linkage. The kinematic analysis of the spatial rigid-body motion is performed usin g kinematic constraint equations to yield the linear and angular posit ions, velocities, and accelerations of the linkage. A mixed variationa l principle is, then, employed to derive the equations of motion gover ning the longitudinal, transverse, and torsional vibrations of the fle xible link and the associated boundary conditions. Based on these equa tions, the steady-state responses are predicted. Finally, an RSRC-type four-bar spatial flexible linkage is constructed and the experimental study is performed to examine the predictive capability proposed in t his investigation. Favorable comparisons between the analytical and ex perimental results are obtained.