Mobility Study Of Multi-Degree-Of Freedom Linkages

点击翻译按钮获取中文摘要

This research addresses the mobility of closed loop planar and spherical linkages. Its intent is to establish a basic theory and foundation to identify and classify link mobility and joint rotatability of single closed loop N-bar planar and spherical linkages, and therefore provide a better understanding of the potential uses and limitations of a linkage or manipulator. The results are applicable to some spatial linkages directly and to multiple loop linkages. They may also provide a geometric tool or model to understand the dexterity and geometric constraints placed on a manipulator when a temporary closed loop chain is formed.***