Abstract:
Planar kinematic
chains have three kinds of freedom types, viz., total, partial
and fractionated freedom. This paper brings out some rules,
presents for the first time a complete method to identify these
freedom types, and expands the definition of fractionated
freedom. This method is already realized in computer.
Key words:
Total freedom Partial freedom Fractionated freedom Link-link adjacency matrix
* This project is supported by National Natural Science Foundation of
China. Manuscript received on October 20, 1992
|