Rotatability Laws for N-Bar Kinematic Chains and Their Proof

[+] Author and Article Information
Kwun-Lon Ting

Department of Mechanical Engineering, Tennessee Technological University, Cookeville, TN 38505

Yung-Way Liu

Department of Mathematics, Tennessee Technological University, Cookeville, TN 38505

J. Mech. Des 113(1), 32-39 (Mar 01, 1991) (8 pages) doi:10.1115/1.2912747 History: Received August 01, 1989; Online June 02, 2008


This paper presents a thorough proof and adds valuable insight into the theorems [1] concerning the mobility of planar N-bar linkages. The paper includes four parts: the assemblability, the revolvability between two links, the full rotatability, and the classification. The proof is based on the assemblability condition of N-bar linkages and the revolvability condition of an angle. Examples are also provided to further clarify the use of these theorems. In these theorems, Grashof’s Law becomes a very special case.

Copyright © 1991 by The American Society of Mechanical Engineers
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