Assembly configurations of spatial single-loop single-DOF mechanisms

This paper examines the problem of finding the assembly configurations (ACs), also called circuits, of spatial single-loop single-DOF mechanisms. All six lower pairs are considered: revolute (R), cylindric (C), prismatic (P), helical (H), spheric (S), and planar (E). The RSSR, CSS, RRSC, CCS, and RRSRR mechanisms are covered, along with all variations in which an R joint is replaced with a P or H joint, or an S joint is replaced with an E joint. The RRCRC, RRRCC, and RRRRCR mechanisms are covered, along with all appropriate variations in which an R joint is replaced by a P or H joint. A numerical method is given to find the ACs, and is illustrated with several examples. [DOI: 10.1115/1.325208]