Mobility analysis of generalized angulated scissor-like elements with the reciprocal screw theory

Jianguo Cai, Xiaowei Deng, Jian Feng, Yixiang Xu

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This paper deals with the planar closed loop linkage consisting of a series of scissor-like elements connected by revolute joints. Because every generalized angulated element (GAE) 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 GAE are individually movable with a single degree of freedom. The mobility of two types of GAEs was investigated with the method based on the screw theory. It has been proven that both types of GAEs are movable because the terminal constraints exerted to the common joint by the two linkages are equal.

Original languageEnglish
Pages (from-to)256-265
Number of pages10
JournalMechanism and Machine Theory
Early online date14 Aug 2014
Publication statusPublished - 1 Dec 2014


  • kinematics
  • linkages
  • scissor-like element
  • screw theory
  • generalized angulated element
  • GAE
  • PRRP linkages

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