Assembling Complete Pole Configurations for (Over)Constrained Planar Mechanisms

[+] Author and Article Information
E. A. Dijksman

Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL 32611

J. Mech. Des 116(1), 215-225 (Mar 01, 1994) (11 pages) doi:10.1115/1.2919350 History: Received May 01, 1990; Revised February 01, 1992; Online June 02, 2008


The complete pole configuration of a planar n-link mechanism having one instantaneous degree of mobility, possesses (3n−4)/2 in dependent poles determining (n−2)2 /2 remaining poles of the configuration. The dependency is demonstrated through Desargues’ Theorem and her generalizations. Simultaneously, pole configurations have been “elated” into three-dimensional point-lattices intersected by a plane. The insight obtained in these configurations allows the designer to find clues in building overconstrained linkage mechanisms meeting certain geometrical properties.

Copyright © 1994 by The American Society of Mechanical Engineers
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