Abstract

Derivation of Grashof-type conditions for spatial mechanisms that may include transmission angle limitations are discussed. It is shown that in general, different conditions need to be derived for each one of the existing configurations of the mechanism. In the absence of any transmission angle control, the conditions would be identical for pairs of configurations. As an example, for RRRSR mechanisms, Grashof-type conditions that ensure crank rotatability, the existence of a drag link type of mechanism, single or multiple changeover points, the possibility of full rotation at intermediate revolute joints, etc., are determined. A general discussion of the problems involved in such derivations, the use of approximation techniques to overcome some of the problems, and several other related subjects are presented.

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