文章基本信息

标题：Constraint Analysis and Redundancy of Planar Closed Loop Double Chain Linkages
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作者：Jianguo Cai ; Xiaowei Deng ; Yixiang Xu 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2014
卷号：2014
DOI：10.1155/2014/635423
出版社：Sage Publications Ltd.
摘要：This paper studies the kinematics of planar closed double chain linkages using the natural coordinate method. Different constraints including the rigid bar, pin joint, generalized angulated element (GAE) joint, and the boundary conditions of linkages were firstly used to form the system constraint equations. Then the degree of freedom of the linkages was calculated from the dimension of null space of the Jacobian matrix, which is the derivative of the constraint equations with respect to time. Furthermore, the redundant constraints can also be given by this method. Many types of planar linkages, such as the Hoberman linkage, Types I and II GAEs, nonintersecting GAEs, and linkages with the loop parallelogram condition, were investigated in this paper. It is found that when three boundary conditions are added to the system, the global motion of the system is lost. The results show that these linkages have only one degree of freedom. Moreover, the last two GAE constraints of the numerical examples given in this paper are redundant.