This paper presents mobility analysis and type identification of a class of RPSPR kinematic chains with zero twist on any one of the links carrying a revolute and prismatic pairs. Conditions for detecting the presence of crank at any of the revolute pairs of the chain are derived. The mobility conditions have very interesting geometric interpretations which are used to identify the mechanism type. Based on the geometric conditions, sufficient conditions of rotatability have also been derived.
Mobility Analysis of a Class of RPSPR Kinematic Chains
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 2001; revised June 2003. Associate Editor: D. C. H. Yang.
DasGupta, A. (March 11, 2004). "Mobility Analysis of a Class of RPSPR Kinematic Chains ." ASME. J. Mech. Des. January 2004; 126(1): 71–78. https://doi.org/10.1115/1.1637649
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