Mobility Analysis of a Class of RPSPR Kinematic Chains

This paper presents mobility analysis and type identification of a class of RPSPR kinematic chains with zero twist on any one of the links carrying a revolute and prismatic pairs. Conditions for detecting the presence of crank at any of the revolute pairs of the chain are derived. The mobility conditions have very interesting geometric interpretations which are used to identify the mechanism type. Based on the geometric conditions, sufficient conditions of rotatability have also been derived.

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