Journal
MECHANISM AND MACHINE THEORY
Volume 37, Issue 3, Pages 267-278Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/S0094-114X(01)00072-6
Keywords
overconstraint criterions; existence condition; I-O relationship; 6-link loop
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In order to reduce the complexity of overconstraint analysis on spatial 6-link loops, we present a complete closed-form analytical method using only four basic equations combined with a turn technique, in which the closure conditions can be obtained and input-output (I-O) equations can be further deduced. Based on this method, we can verify the overconstraint of the Bricard trihedral mechanism and derive its closure condition easily from its overconstraint condition. Also, the closure condition and I-O equations of a known 4R2P overconstrained mechanism are deduced for the first time. (C) 2002 Published by Elsevier Science Ltd.
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