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TECHNICAL PAPERS

On Mobility Analysis of Linkages Using Group Theory

[+] Author and Article Information
José Marı́a Rico Martı́nez

Instituto Tecnológico de Celaya, Dept. de Ingenierı́a Mecánica Celaya, Gto. 38000, Méxicoe-mail: mrico@itc.mx

Bahram Ravani

Dept. of Mechanical and Aeronautical Engineering, University of California, Davis, Davis, CA 95616e-mail: bravani@ucdavis.edu

J. Mech. Des 125(1), 70-80 (Mar 21, 2003) (11 pages) doi:10.1115/1.1541628 History: Received November 01, 2001; Revised August 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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References

Figures

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The two possible paths between rigid bodies i and j
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Intersection of Hc(i,j) and Hcc(i,j) in Case 1
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The two possibilities of intersection of Hc(i,j) and Hcc(i,j) in Case 2
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Intersection of Hc(i,j) and Hcc(i,j) in Case 3
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Spatial Chain 4P-4R with Partitioned Mobility.
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A movable exceptional chain obtained from the intersection of a pair of planar subgroups
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A movable exceptional chain obtained from the intersection of a planar subgroup with a Schönflies subgroup
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A spatial chain formed by a couple of parallel dyads
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A movable chain obtained from a unique Schönflies subgroup
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A four revolute spatial chain
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Single loop kinematic chain
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The three basic types of kinematic pairs

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