For closed-loop spatial RSRC mechanisms, Grashof-type movability conditions (i.e., conditions for the existence of crank-rocker and drag link types of mechanisms) are derived using geometrical approximation. The movability conditions are derived in the presence and absence of transmission angle limitations. The mechanism has two branches (configurations). Without transmission angle limitations, both configurations have identical movability conditions. However, by including transmission angle limitations, the movability conditions become different for each configuration of the mechanism. The movability conditions eliminate the possibility of changeover from one configuration to the other.

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