Geometrically Approximated Rotatability Conditions for Spatial RSRC Mechanisms With Joint Angle Limitations

Abstract

For closed-loop spatial RSRC mechanisms, input-output rotatability conditions, i.e., conditions for the existence of crank-rocker and drag-link types of mechanisms, are derived using geometrical approximation. The rotatability conditions are derived in the presence and absence of joint angle limitations. The mechanism has two branches. By including joint angle limitations, the rotatability conditions become different for each configuration of the mechanism. The rotatability conditions eliminate the possibility of changeover.