A Method for Determining the Number of Dependent Constraints Using Transformation Parameters of Coordinate Systems

摘要

This paper proposes a new method in which the number of dependent constraints is determined based on the transformation parameters of the coordinate systems associated with the links of a mechanism; the number of homonymous parameters that are equal to zero is subsequently used to determine the overall mobility (number of DOF) of the mechanism. This method can be used to solve problems involving the analysis and synthesis of the topological structure of any closed mechanism or parallel manipulator.