A Framework for Closed-Form Displacement Analysis of 10-Link 1-DOF Mechanisms

Abstract

Abstract This paper presents a closed-form approach, based on the theory of resultants, to the displacement analysis problem of planar 10-link 1-DOF mechanisms. Since each 10-link mechanism has 4 independent loops, its displacement analysis problem can be written as a system of 4 reduced loop-closure equations in 4 unknowns. This system of 4 reduced loop closure equations, for all non-trivial mechanisms resulting from 230 10-link kinematic chains, can be classified into 22 distinct structures. Using the successive and repeated elimination procedures presented herein, it is shown how each of these structures can be reduced into a univariate polynomial devoid of any extraneous roots. This univariate polynomial corresponds to the input-output (I/O) polynomial of the mechanism. Based on the results presented, it can be seen that the displacement analysis problem for all 10-link 1-DOF mechanisms is completely solvable, in closed-form, devoid of any extraneous roots.