圈上泽文大峰 OUTLINE Planar Linkages and 4-bar mechanism Transformations of Planar Kinematic Chains Important kinematic characteristics ☐Grashof Condition 圆上泽夫通大学 Transformations of PKC MECHANISM TRANSFORMATION RULES: 1 Revolute joints in any loop can be replaced by prismatic joint with no change in DOF of the mechanism,provided that at least two revolute joint remain in the loop. 2 Any full joint can be replaced by a half joint,but this will increase DOF by one. 3 Removal of a link will reduce the DOF by one. 4 The combination of rules 2 and 3 will keep the original DOF unchanged. 5 Any ternary or higher order link can be partially shrunk to a lower- order link by coalescing nodes without any change in the DOF. 6 Complete shrinkage of a higher-order link is equivalent to its removal and DOF will be reduced. 1010 OUTLINE  Planar Linkages and 4-bar mechanism  Transformations of Planar Kinematic Chains  Important kinematic characteristics  Grashof Condition Transformations of PKC MECHANISM TRANSFORMATION RULES: 1 Revolute joints in any loop can be replaced by prismatic joint with no change in DOF of the mechanism, provided that at least two revolute joint remain in the loop. 2 Any full joint can be replaced by a half joint, but this will increase DOF by one. 3 Removal of a link will reduce the DOF by one. 4 The combination of rules 2 and 3 will keep the original DOF unchanged. 5 Any ternary or higher order link can be partially shrunk to a lower￾order link by coalescing nodes without any change in the DOF. 6 Complete shrinkage of a higher-order link is equivalent to its removal and DOF will be reduced