Kinematic analysis of Hoberman's Linkages with the screw theory

Jianguo Cai, Yixiang Xu, Jian Feng

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


This paper studies the Hoberman's linkage consisting of a series of scissor like elements connected by revolute joints. Because every Hoberman's angulated element subtends a constant angle during the motion, every angulated link was assumed as a PRRP linkage which has two prismatic joints and two revolute joints. Therefore, the two PRRP linkages of the Hoberman's angulated element are individually movable with a single degree of freedom. The mobility was investigated with the method based on the screw theory. It has been proved that the Hoberman's angulated element is movable because the terminal constraints exerted to the common joint by the two linkages are equal.
Original languageEnglish
Pages (from-to)28–34
Number of pages7
JournalMechanism and Machine Theory
Early online date2 Apr 2013
Publication statusPublished - May 2013


  • kinematics
  • scissor like element
  • Hoberman's Linkages
  • screw theory

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