A Systematic Analysis of Planar Multilink Mechanisms

Abstract

Considering the Mechanisms to be constructed with several kinds of basic open chains, the relative displacements of links in each basic open chain and the connecting conditions of the open chains have been generally described by the transformation functions. The transformation functions enable the systematic displacement analysis of planarmultilink mechanisms without the derivation of displacement equations. In the analysis, all of the possible motions can be separately evaluated in correspondence with the conjugate positions of mechanisms. The method has been applied also to the error analysis of mechanisms.