Topological analysis of planar linkage with fractionated mobility
Date Issued
2010
Date
2010
Author(s)
Jiang, Jun-Xian
Abstract
This paper aim at developing a systematic and efficient method for arrangement of input pairs and ground link in kinematic chain according to fractionated mobility mechanism. Discussion of the difference between mobility of motion of link and mobility of motion of link relative to ground link shows us that location of input pairs and ground link would affect the mobility of mechanism. Firstly, the concept of union loop is introduced by discussing the relation of input pairs and mobility of motion of link. We can find that fractionated mobility type mechanism is composed of fully balanced union loops and non-fully balanced union loops and a method has been developed to create n-union loops fractionated mobility type mechanism. The input pair, then, can be properly deployed. Secondly, the concept of virtual link is introduced to figure out the effect of ground link on mobility of motion of link relative to ground link. Base on it, a method of identification of fractionated mobility type mechanism is developed. This method can help us to choose the proper link of a fractionated mobility kinematic chain which input pair assigned in to be ground link, such that the fractionated mobility kinematic chain forms a fractionated mobility type mechanism. At last, the atlas of all possible arrangements of input pairs and ground link of up to ten links and three mobility planar mechanism is presented by using modified dual graph.
Subjects
fractionated mobility type mechanism
mobility of motion of link
input pair assignment
ground link
union loop
Type
thesis
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