Review on the Mobility Development History with the Understanding of Overconstraints

doi:10.3901/JME.2017.15.081

Abstract

Abstract: The determination of overconstraint is always one of the key and difficult problems in mobility calculation. The research on unified-mobility-formula has experienced over 150 years. Recalling the entire development process, the understanding of overconstraint is a step-by-step process. According to the overconstraint, which is the most core question of mobility analysis, a review on the calculation of the mobility is introduced. More than forty approaches/formulas for mobility calculation presented in the literature are selected and grouped in three categories in accordance with their treatment for overconstraint:original mobility formula, the formula considering the rank of mechanism and the formula considering all the overconstraint. Furthermore the main characteristics are analyzed and summarized. The development history of mobility formulae is emphasized in a new perspective, which makes us identify the future direction of research and provides references for the introduction of new mobility approaches/formulas which are uniform and universal.

Key words: list intersection, mobility formulae, overconstraint, parallel mechanism

CLC Number:

TH112

LU Wenjuan, ZHANG Lijie, XIE Ping, ZHANG Yitong, HUANG Zhen. Review on the Mobility Development History with the Understanding of Overconstraints[J]. Journal of Mechanical Engineering, 2017, 53(15): 81-92.

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