Meta-truss elimination method for distinguishing planar multi-rod hybrid driving mechanism

Toward the planar two degree of free-domed nine-rod mechanism,the identification of hybrid driving mechanism is the difficulty of its research and application. A kind of judging method for the hybrid driving mechanism based on the elimination of meta-truss was put forward in this paper. A motive member was determined in advance and then to obtain the combination of motive members through the elimination of meta-truss,hereon this base the hybrid driving mechanism was determined according to the judging criterion of side link and non-side link. Taking the seven bar mech-anism as a living example,the effectiveness of this method was testified. Finally let this method be applied to the planar nine-bar mechanism,taking the three kinds of degree of freedom types of the mechanism as a base and considering two kinds of situations of the outputs of side-link and non-side-link,ten kinds and thirty three kinds of hybrid driving mechanisms were obtained respectively and thus laid a foundation for the analysis and design of the planar nine-bar hybrid driving mechanisms.