An RSSR mechanism is analyzed by treating the linkage as two manipulators. The mobility region of the input link or the output link is derived from the intersection region of the working volumes generated by two manipulators. It can be found by solving the region bounded by an ellipse and a unit circle. Concise discriminants and straightforward strategy are developed to determine the type for some special RSSR linkages. Grashof’s rule is derived for determining the type of planar four-bar and proved to be the primary criterion for simply skewed four-bar.
Mobility Analysis of RSSR Mechanisms by Working Volume
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received March 26, 2003; revised April 20, 2004. Associate Editor: G. R. Pennock.
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Chung , W. (March 2, 2005). "Mobility Analysis of RSSR Mechanisms by Working Volume ." ASME. J. Mech. Des. January 2005; 127(1): 156–159. https://doi.org/10.1115/1.1825045
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