The Identification and Classification of Planar Mechanisms of Revolute Joints on the Basis of Mobility Types

The concept of mobility type requirement is introduced in this work. On the basis of mobility type requirement, the topological analysis of planar linkage mechanisms is accomplished with an oriented assignment of actuating pairs and ground link.
In this thesis, the relation between type of freedom and mobility types is introduced. Briefly speaking, total mobility mechanisms can be obtained by assigning actuating pairs and ground link onto total and partial freedom kinematic chains; partial and fractionated mobility mechanisms can be obtained by assigning actuating pairs and ground link onto partial and fractionated freedom kinematic chains. On this concept, the systematic assigning processes of actuating pairs and ground link of planar linkage mechanisms are developed with a convenient tool, modified dual graph representation. According to these assigning procedures, designers can acquire fully constrained mechanisms with the expected mobility type.