Mobility of the Myard 5R Linkage Involved in “Gogu Problem”

来源 :中国机械工程学报 | 被引量 : 0次 | 上传用户:rays
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Since the traditional Grübler-Kutzbach criterion fails in many overconstrained mechanisms, developing a general mobility formula is a hot topic lasting for more than 150 years in mechanisms. GOGU systematically investigated various mobility methods, and pointed that the methods were not fit for two kinds of paradoxical overconstrained mechanisms. The mobility on the two kinds of mechanisms in "Gogu problem", and has developed into a systematic mobility methodology. Myard 5R linkage is one of the single-loop mechanisms involved in "Gogu problem", its joint axes are distributed in space with special geometric conditions, which increases the difficulty of mobility analysis. The study is to calculate the global mobility of the Myard 5R linkage using the mobility methodology. Firstly, the mobility methodology based on screw theory is briefly introduced. Secondly, some homogeneous transforms are performed accnrding to the D-H parameters and the invarianee of the linkage plane symmetry is revealed, which provides an idea to judge a plane-symmetric loop. The special geometric features of the axes distribution are discussed as well. Finally, the global mobility of the more paradoxical mechanisms.
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