Identification and Classification of Multi-Degree-of-Freedom and Multi-Loop Mechanisms

摘要

This study concerns the degree-of-freedom, the arrangements of input and the type of mobility of multi-loop, multi-degree-of-freedom mechanisms. Firstly, "basic loops" are introduced, and a systematic scheme for identifying the actual degree-of-freedom of mechanisms is developed. The input, then, can be properly deployed, such that the mechanism has a totally constrained motion. Lastly, based on the input deployment, the mobility of mechanisms is classifed and identified into three types: total, partial and fractionated mobility. The procedure has been automated, and the atlas of all possible arrangements of input of up to eight-link planar mechanisms with only revolute joints is presented. The systematic method is helpful for the structural synthesis of multi-degree-of-freedom and multi-loop mechanisms, and for exploring their potential industrial applications.