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Research Papers

Mobility Criteria of Planar Single-Loop N-Bar Chains With Prismatic Joints

[+] Author and Article Information
Changyu Xue

Center for Manufacturing Research, Tennessee Technological University, 1 William L. Jones Drive, Cookeville, TN 38505cxue21@tntech.edu

Kwun-Lon Ting

Center for Manufacturing Research, Tennessee Technological University, 1 William L. Jones Drive, Cookeville, TN 38505kting@tntech.edu

Jun Wang

Center for Manufacturing Research, Tennessee Technological University, 1 William L. Jones Drive, Cookeville, TN 38505jwang22@tntech.edu

J. Mechanisms Robotics 3(1), 011011 (Feb 10, 2011) (6 pages) doi:10.1115/1.4003269 History: Received March 11, 2009; Revised February 17, 2010; Published February 10, 2011; Online February 10, 2011

This paper presents the extension of the N-bar rotatability laws to N-bar chains containing prismatic joints. The extension is based on the principle that a prismatic joint may be regarded as a revolute joint located at infinity in the direction normal to the sliding path. The effects of long and short links, full rotatability, linkage classification, and formation of branches and sub-branches are discussed. The extension provides a consistent method to understand all aspects of linkage rotatability disregarding the existence of prismatic joints. The results are demonstrated by several examples.

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Copyright © 2011 by American Society of Mechanical Engineers
Topics: Chain
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References

Figures

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Figure 5

N-bar (2P) chains: (a) neighboring 2P and (b) non-neighboring 2P

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Figure 6

2R2P chains: (a) neighboring 2P and (b) non-neighboring 2P

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Figure 7

3R2P chains: (a) neighboring 2P and (b) non-neighboring 2P

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Figure 4

A 4R1P-type chain

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Figure 3

A 3R1P-type chain

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Figure 2

Two branches of a right triangular linkage

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Figure 1

Representation of an N-bar chain with a P-joint

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