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Kinematic and static characteristics of robotic parallel crank mechanisms have been analyzed and represented in the form of charts which support rational syntheses of the mechanisms as robot and legs. Namely the value of torque of motive shafts to hold attitudes of mechanisms and the static compliance of the work points when the mechanisms take arbitrary shapes have been formulated by the total link lengths and by introducing four dimensionless parameters. Characteristic charts of statics have been made by plotting lines of positions of the output point where both of the factors are constant in dimensionless working spaces. Making use of several characteristic charts and simple transformation formulas, the values of the two factors can be analyzed, respectively, when the mechanisms take arbitrary positions and attitudes

nihon kikai gakkai ronbunshū. c

Static Characteristics of Robotic Parallel Crank Mechanisms. Static Characteristics Based on the Relation between Input and Output Displacement of Mechanisms.