Method for analyzing the motion transfer quality in a planar multi-link crank-slider mechanism based on the kinematic screw Pl?cker coordinates

Lever drives based on various mechanisms are important units in the cyclic automatic machines. Using the multi-link crank-slider mechanisms makes it possible to solve the problem of implementing a complex cyclogram with the output link approximate stoppage, but leads to the need for a deep research in kinematics. Studying the functions of position (connecting rod curves), speed and acceleration of the movable joints turns out to be insufficient for analyzing special positions of the links. The paper proposes a method for analyzing the motion transfer quality based on the kinematic screw Pl?cker coordinates making it possible to obtain additional kinematic characteristics in a compact form, in particular, the matrices determinants for the input and output links, as well as the transfer coefficient defined as their ratio. Matrices determinant degeneration for the input link corresponds to a special (singular) position of the lever mechanism under study. At the same time, the matrices determinant for the output link being close to zero indicates the presence of its approximate dwell.
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