RESEARCH PAPERS: Mechanisms Papers

A General Method of Four-Bar Linkage Mobility Analysis

[+] Author and Article Information
J. Angeles, A. Bernier

Department of Mechanical Engineering and Robotic Mechanical Systems Laboratory—McRCIM, McGill University, 817 Sherbrooke St. W., Montreal, Quebec, Canada H3A 2K6

J. Mech., Trans., and Automation 109(2), 197-203 (Jun 01, 1987) (7 pages) doi:10.1115/1.3267438 History: Received July 10, 1986; Online November 19, 2009


The problem of mobility associated with four-bar linkages is addressed in this paper. The mobility analysis is reduced to finding the global extrema of a quadratic function on a cylinder, which then leads to the geometric problem of finding the intersections of a circle and a hyperbola. The method proposed here produces an efficient mobility analysis that can be readily integrated into any suitable optimization algorithm.

Copyright © 1987 by ASME
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