Mobility Analysis of Kinematic Chains

Abstract

In the present work a simple and efficient method is proposed to identify whether a kinematic
chain posses total, partial or fractionated mobility. The proposed method uses the chain flow
values (CFV) derived from the flow matrix of the given kinematic chain and successfully
applied to all known cases of 2 and 3 degree of freedom planar kinematic chains. Since the
method is systematic and efficient, it can be applied to the more complex chains which not
have been reported in the literature yet. This study will be helpful in dividing the frame and
input links from the view point of mobility. Some examples are provided to demonstrate the
effectiveness of this method.