0
Research Papers

Analysis and Determination of Associated Linkage, Redundant Constraint, and Degree of Freedom of Closed Mechanisms With Redundant Constraints and/or Passive Degree of Freedom

[+] Author and Article Information
Yi Lu1

Robotics Center, College of Mechanical Engineering,  Yanshan University, Qinhuangdao, Hebei 066004, P. R. Chinaluyi@ysu.edu.cn

Nijia Ye

CERI Yingkou Equipment Development and Manufacturing Co., Ltd., Yingkou, Liaoning 115004, P. R. Chinanijiareborn@163.com

Yang Lu

CERI Yingkou Equipment Development and Manufacturing Co., Ltd., Yingkou, Liaoning 115004, P. R. Chinadeer.sheep@yahoo.com.cn

Bingyi Mao

College of Information Science Engineering,  Yanshan University, Qinhuangdao, Hebei 066004, P. R. Chinaysdxmby@163.com

Xu Zhai

Robotics Center, College of Mechanical Engineering,  Yanshan University, Qinhuangdao, Hebei 066004, P. R. Chinazhai_xu@163.com

Bo Hu

Robotics Center, College of Mechanical Engineering,  Yanshan University, Qinhuangdao, Hebei 066004, P. R. Chinahbz0001@yahoo.com.cn

1

Corresponding author.

J. Mech. Des 134(6), 061002 (Apr 24, 2012) (9 pages) doi:10.1115/1.4006525 History: Received November 12, 2011; Revised February 13, 2012; Published April 23, 2012; Online April 24, 2012

The relations among the associated linkages (ALs), the redundant constraints, the passive degree of freedom (DoF), and the degree of freedom are studied systematically for the type synthesis of the closed mechanisms in this paper. First, the kinematic pairs with multidegree of freedoms are formed by combination of the basic joints with single degree of freedom in series, and the formulae are derived for the calculation of the degree of freedoms of the associated linkages, the number of the basic joints, and the valid numbers of the basic links in the associated linkages. Second, many different associated linkages and the number of basic links are derived, and the relations among the associated linkages, the redundant constraints, the passive degree of freedom, and the degree of freedoms of the closed mechanisms are analyzed. Third, some topology graphs are derived and the relative closed mechanisms with the redundant constraints and the passive degree of freedom are synthesized. Finally, the redundant constraints and the degree of freedoms of the closed mechanisms are determined.

FIGURES IN THIS ARTICLE
<>
Copyright © 2012 by American Society of Mechanical Engineers
Topics: Mechanisms , Topology
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Decision trees for deriving ALs of closed mechanisms with ν and/or ζ as μ = 0, 1

Grahic Jump Location
Figure 2

(a) A contracted graph with 2T and three edges and (b) a TG with 2T, 9B, and 12J

Grahic Jump Location
Figure 3

(a) A 4R-type planar four-bar mechanism and (b) a spherical 3-RRR PM

Grahic Jump Location
Figure 4

(a) 3-RRRH PM and (b) decoupled 3-PRRR PM

Grahic Jump Location
Figure 5

(a) 4-UPU PM and (b) 4-PUU PM

Grahic Jump Location
Figure 6

(a) 3-RUU PM and (b) delta PM

Grahic Jump Location
Figure 7

(a) 3-RR2(RU) PM and (b) 3-RRPR PM

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In