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Mobility Determination of Paradoxical Linkages

[+] Author Affiliations
José María Rico

Universidad de Guanajuato, Guanajuato, Mexico

Bahram Ravani

University of California at Davis, Davis, CA

Paper No. DETC2005-84936, pp. 1057-1073; 17 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


It is well known that the Kutzbach-Grübler criterion fails in computing the mobility of exceptional and paradoxical linkages, these two classes of linkages are sometimes referred to as overconstrained. Recently, the authors [1] developed a new mobility criterion that correctly computes the mobility of trivial and exceptional linkages. In the form presented in [1; 2] the mobility criterion can not compute the mobility of paradoxical linkages. This paper presents an extension of the mobility criterion developed by the authors that allows the computation of the degrees-of-freedom of large classes of paradoxical linkages, the conditions for taking advantage of this extension are revealed. Moreover, a hypothesis for applying this extension to classical paradoxical linkages such as the Bennett and Goldberg linkages is presented. Several examples are used to illustrate the method.

Copyright © 2005 by ASME
Topics: Linkages



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