On the order and freedom of the curve of RPCCR linkages

Hong Sen Yan, Wen Hsiang Hsieh

Research output: Contribution to journalArticlepeer-review


The purpose of this paper is to investigate the property of the coupler curves generated by RPCCR linkages. First, the 3×3 matrix with dual elements is used to establish the loop closure equation, the displacement equations are derived, and all joints variables are expressed in terms of input and output variables. Then, the parametric equations of the coupler curve are found by the D-H matrix. Finally, homogeneous coordinate is introduced to those displacement equations, and the order and some critical properties of the coupler curve are investigated based on the theories of algebraic curve and analytical geometry of three dimensions. In addition, RPCCR and RRPCC linkages are used as examples for illustrations. Moreover, the results on the application of dimensional synthesis are discussed.

Original languageEnglish
Pages (from-to)369-378
Number of pages10
JournalJournal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
Issue number4
Publication statusPublished - 1998 Aug

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering


Dive into the research topics of 'On the order and freedom of the curve of RPCCR linkages'. Together they form a unique fingerprint.

Cite this