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Mobility of 4R1P-Type Five-Bars Using Characteristics Charts

[+] Author Affiliations
W. Z. Guo, H. J. Zou, B. Han, Q. Zhang

Shanghai Jiao Tong University, Shanghai, China

Paper No. DETC2004-57236, pp. 627-634; 8 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


The mobility is analyzed for the 4R1P-type planar closed-loop five-bar linkages using characteristics charts and four-bar Grashof criterion by introducing the virtual link. Based on dimensional relations of the three RR-type links, the five-bars are divided into three categories: Class I, Class II and Class III. Class I satisfies rmax < rmid + rmin , Class II satisfies rmax > rmid + rmin and Class III holds the equality. In the characteristics charts, Class I has a circular slide reachable range with two Grashof regions and two non-Grashof ones separated by three Grashof boundaries C1 , C2 and C3 , as well as one structure boundary B3 ; Class II has a ringed range with one Grashof region and two non-Grashof ones separated by the void boundary A1 instead of C1 , two Grashof boundaries C2 and C3 , as well as B3 ; and Class III has a circular range with three regions separated by C2 , C3 and B3 . From the four-bar Grashof criterion, the five-bars have two fully revolute joints at the Grashof regions while no such joints at the non-Grashof regions. Specially, the five-bars have Grashof change points at the Grashof boundaries and keep in line at A1 and B3 . Each class includes further sub-classes. Several cases are illustrated for the applications.

Copyright © 2004 by ASME
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