Change of contracted link adjacencymatrix for planar closedchain mechanism

CAO Chunjun, HE Huabo

(The Faculty of Engineering and Mechanics, Ningbo University, Ningbo 315211, China)

Abstract: In order to solve the problems of the full use of existing planar closedchain mechanism and to synthesize the contracted link adjacency matrix(CLAM), the solving program about how to remove the isomorphic chains and rigid chains was presented by analyzing the mechanism design process of planar closedchain . After the comparison of the CLAM, the method about how to change the number of link and joint from less to more was introduced . The two matrix with different ranks but have several same determinant factors can be considered as the local isomorphism and then the change process of the CLAM in planar closedchain mechanism were determined. At last, the transform of planar closedchain mechanism was verified by improving the flying shear mechanism. The results indicate that the new planar closedchain mechanism will be achieved by change the number of link and joint from the previous.

Key words: planar closedchain mechanism; kinematic synthesis; isomorphic chain; rigid chain;