Abstract
This paper presents a new method for the mobility analysis of planar mechanisms. The method utilizes a geometrical representation known as “parallel coordinates.” It is a transformation that maps the Euclidean space R N to N parallel coordinates in the projective plane. Points in R 2 are transformed to line segments in the parallel coordinate plane, and circles in R 2 are transformed to hyperbolae. Also, in this investigation, special techniques required for mobility analysis are developed. First, the intersection of circles is performed graphically through the parallel coordinate system. The parallel coordinate plane is then appended to relate this intersection data to the angular coordinates of the various members of the linkage. The ranges of these angular coordinates are the results of the mobility analysis.
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