Centrodes in Contact-Closed Loop

Matlab File

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Software copyright © 2004 by The McGraw-Hill Companies, Inc. All rights reserved.

Info

The fixed centrode of instant center of I₁₃ of the double-crank linkage, where links shown in blue and green rotate fully, traces a closed curve. Note that there are two loops to the fixed centrode, as shown in the figure on the left.

The moving centrode of the double-crank linkage is also a closed curve, as shown in the figure in the middle.

The motion of the coupler link (in red) with respect to the ground link (in beige) could be duplicated by causing these two centrodes to roll against one another without slipping, as shown in the figure on the right. 

Source

This Working Model file is adapted from Figure 6.15a on p.290 in Design of Machinery, 3rd ed. by Norton, R. L., McGraw-Hill, 2004.

Credits

This Working Model file was first developed by Jie (Jeff) Yang.