Higher-Order Centrodes and Bresse’s Circles of Slider-Crank Mechanisms

This paper deals with the formulation via the instantaneous geometric invariants of a specific algorithm to determine the higher-order centrodes and Bresse's circles for the coupler link of slider-crank mechanisms. In particular, the first, second and third order centrodes can be obtained in any configuration of the mechanism by showing the successive positions of the instant center of rotation and the acceleration and jerk poles. Several graphical and numerical results for a given slider-crank mechanism in different configuration, are also shown.