Mobility Criteria of Planar Single-Loop N-Bar Chains With Prismatic Joints

Mobility Criteria of Planar Single-Loop N-Bar Chains With Prismatic Joints

This paper presents the extension of the N-bar rotatability laws to N-bar chains containing prismatic joints. The extension is based on the principle that a prismatic joint may be regarded as a revolute joint located at infinity in the direction normal to the sliding path. The effects of long and sh...

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Veröffentlicht in:Journal of mechanisms and robotics 2011-02, Vol.3 (1)
Hauptverfasser: Xue, Changyu, Ting, Kwun-Lon, Wang, Jun
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creator Xue, Changyu
Ting, Kwun-Lon
Wang, Jun
description This paper presents the extension of the N-bar rotatability laws to N-bar chains containing prismatic joints. The extension is based on the principle that a prismatic joint may be regarded as a revolute joint located at infinity in the direction normal to the sliding path. The effects of long and short links, full rotatability, linkage classification, and formation of branches and sub-branches are discussed. The extension provides a consistent method to understand all aspects of linkage rotatability disregarding the existence of prismatic joints. The results are demonstrated by several examples.
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title Mobility Criteria of Planar Single-Loop N-Bar Chains With Prismatic Joints
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