Mobility Analysis and Type Identification of Four-Link Mechanisms

[+] Author and Article Information
A. K. Mallik

Mechanical Engineering Department, Indian Institute of Technology, Kanpur, India 208 016

J. Mech. Des 116(2), 629-633 (Jun 01, 1994) (5 pages) doi:10.1115/1.2919424 History: Received May 01, 1989; Revised February 01, 1992; Online June 02, 2008


An alternative derivation of the simple criteria, in terms of linkage parameters, demarking the zones of nonexistence of double-crank and crank-rocker RSSR mechanisms is presented. The existence of a crank is verified by polynomial discriminants of the limit position. Closed from solutions are obtained for type identification for 4R spherical, RCCC, RSSP, and planar 4R mechanisms by treating these as the limiting cases of an RSSR mechanism.

Copyright © 1994 by The American Society of Mechanical Engineers
Topics: Linkages , Polynomials
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