Instant Center Identification of Single-Loop Multi-DOF Planar Linkage Using Virtual Link

Instant center is an important kinematic characteristic which can be used for velocity and singularity analysis, configuration synthesis dynamics modeling of multi-degree freedom (multi-DOF) planar linkage. The Aronhold–Kennedy theorem famous locating instant centers four-bar linkage, but single-loop multi-DOF linkages, it fails. Increasing with the number links lack link relationship makes identification become a recognized difficulty. This paper proposes virtual method to identify First, three types are redefined process graph introduced. Then, based on coupled loop chain definition center, two criteria presented convert linkage into two-loop by adding links. Subsequently, unchanged identified in acquire all original As result, five-bar, six-bar several prismatic joints systematically researched first time. Finally, validity proposed demonstrated using equations. It graphical straightforward application wide up N-bar (N ? 5)