Mobility Study Of Multi-Degree-Of Freedom Linkages

本文研究了闭环平面连杆机构和球面连杆机构的运动特性。其目的是为识别和分类单闭环n杆平面和球面连杆机构的连杆机动性和关节可旋转性建立基本理论和基础，从而更好地了解连杆机构或机械臂的潜在用途和局限性。所得结果可直接应用于某些空间连杆机构和多环连杆机构。它们也可以提供一个几何工具或模型来理解当一个临时闭环链形成时，放置在机械臂上的灵巧性和几何约束

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.***