DETC 98 / MECH-5887 A CLASSIFICATION SCHEME FOR PLANAR 4 R , SPHERICAL 4 R , AND SPATIAL RCCC LINKAGES TO FACILITATE COMPUTER ANIMATION

aons e user nd ABSTRACT In this paper we develop a complete classification sch for planar, spherical and spatial four-bar linkages. The goa this classification is to note all of the subtleties of motion t an arbitrary set of four link lengths can define. A classificat should exist only between the mechanisms that exhibit sim ranges of motion at both the input and output. In the planar c three parameters being identified as either positive, negativ zero are necessary to completely characterize all possible ra of motion. In the spherical and spatial cases, four parameter ing identified as positive, negative or zero are needed. The r is 27 classifications of planar mechanisms and 81 for sphe and spatial RCCCmechanisms.