上游充通大学 Transformations of PKC SHANGHAI JIAO TONG UNIVERSITY 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. ME357 Design Manufacturing llTransformations 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 j i o nt remaii hl nn t he 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 kee p g the ori ginal 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 ME357 Design & Manufacturing II and DOF will be reduced