Analysis and Design of Link Mechanisms Based on the Configuration Analysis of Structures

Prime structures are the structures which do not include 0-DoF subchains, and they are expected to be used in the systematic kinematic analysis and design of link mechanisms. This paper explains the number synthesis and the configuration analysis of spatial prime structures, as well as the analysis and design of spatial mechanisms based on spatial prime structures. First, the exhaustive enumeration (number synthesis) of spatial prime structures is described. The numbers of kinematic pairs are calculated, and then the candidates of prime structures are exhaustively enumerated. By eliminating inappropriate candidates, spatial prime structures are enumerated without omissions or duplications. Next, the configuration analysis of spatial prime structures is described. For some single-loop prime structures, the configuration can be analyzed by considering the intersection of multiple spatial figures. Finally, the analysis and design of spatial mechanisms based on spatial prime structures are described. When the driving link of a mechanism is fixed, the remaining chain becomes a structure. By analyzing the configuration of the structure using prime structures, the kinematics of the spatial mechanism can be analyzed. Furthermore, when the systematic kinematic analysis of spatial mechanisms becomes possible, it can be applied to the mechanism design.