ANALYSIS AND SYNTHESIS OF OVERCONSTRAINED MECHANISMS

This paper describes how, based on a method originated by Raghavan and Roth and elaborated by Mavroidis and Roth, a systematic approach is defined in order to obtain and solve the input-output equations of any overconstrained mechanism. We show that the key to study overconstrained mechanisms lies in analyzing a certain matrix. We are using this matrix to prove overconstraint of special structures, obtain the input-output equations of the mechanisms in analytical form, and solve them algebraically. Applying this unified method of studying overconstrained mechanisms, we verified overconstraint of all known mobile linkages, corrected or generalized already established overconstrained conditions and found new overconstrained mechanisms.

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