Analysis of Types of Hybrid Input Five-Bar Mechanism

By utilizing the position relationship of open chain's workspace, four bar mechanism's assemblability law and Grashof criterion, it analyzed all types of four bar mechanism. Based on it, all types of hybrid five bar mechanism were analyzed. The hybrid five bar mechanism is divided into three types, which are unconditional three cranks, unconditional two cranks and unconditional single cranks. According to the law of four bar mechanism's assemblability, the condition of no singular position of five bar mechanism is derived. That is two coulpers are not colinear. By using the condition, it got three types of five bar mechanisms which satisfy the requirement of hybrid input and no singular position. These types provide the important constraint condition for dimensional synthesis of the hybrid input five bar mechanism.