This work presents a modified criterion for counting the number of degrees of freedom of flexible connecting mechanisms. The structural characteristics of flexible connecting mechanisms are studied first. According to the concept of joint geometric constraints, a missed constraint from flexible members can be found. This constraint, namely virtual axis, is similar to joint constraints and is the key point for effective degrees of freedom of flexible connecting mechanisms. Based on the concept, a suitable graph representation is shown for clearly expressing the axes and virtual axes of mechanisms. Then, the Grübler-Kutzbach criterion is modified by including the concept of virtual axes and additional degrees of freedom from flexible members. Finally, this work presents six typical mechanisms as examples to prove the proposed criterion for calculating the effective degrees of freedom.
|Number of pages||10|
|Journal||Transactions of the Canadian Society for Mechanical Engineering|
|Issue number||2 B|
|Publication status||Published - 2004|
All Science Journal Classification (ASJC) codes
- Mechanical Engineering