上游充通大学 Transformations of PKC SHANGHAI JIAO TONG UNIVERSITY Grashof crank nocker Grashof slider-crank Slider block 1 Revolute joints in any loop can be replaced by prismatic joint with no change in DOF of the Effective link 4 Effective rocker Rocker pivot pivot is at infinity mechanism,provided that at least two revolute joint remain (c)Trarsforming a fourbar crank-rocker to a sider-crank in the loop. Crank 2 Effective link 3 Crank2 Effective link 3 2 Any full joint can be replaced SIxler4 by a half joint,but this will increase DOF by one. 3 Removal of a link will reduce ()Tronstorming the der-crank to the Scotch yoke the DOF by one. Roll-stide Effective link 3 4 The combination of rules 2 and Chalf)joint Effective link 2 Effective link 4 3 will keep the original DOF Follower Cam unchanged. (c The cam-follower mechanism has an effective fourbar equivalent FIGURE 2-12 Linkage transformationTransformations of PKC 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 two revolute 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 R l f li k ill d 3 Removal o f a li n k will re duce the DOF by one. 4 The combination of rules 2 and 4 The combination of rules 2 and 3 will keep the original DOF unchanged