Design of general kinematotropic mechanisms

Qiang Zeng*, Kornel F. Ehmann, Jian Cao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

18 Scopus citations


The general mobility of a linkage mechanism is determined during its continuous motions, but there is a class of mechanisms with kinematotropic properties whose mobility can be changed at singularities of their pose, while their kinematic structure remains unchanged in the different motion modes. This paper presents a systematic design method for general kinematotropic mechanisms. Firstly, the basic kinematic structures of spatial motions in serial and parallel forms are introduced. Secondly, the basic properties and design rules of kinematotropic mechanisms are defined, and the basic serial kinematic chains with variable constraint relations are presented. Thirdly, a systematic method for kinematic structural synthesis of general kinematotropic mechanisms is proposed. Finally, two types of motion transformations with four kinematotropic mechanisms are synthesized and analyzed as illustrative examples of the method.

Original languageEnglish (US)
Pages (from-to)67-81
Number of pages15
JournalRobotics and Computer-Integrated Manufacturing
StatePublished - Apr 1 2016


  • Displacement group theory
  • Kinematic structural synthesis
  • Kinematotropic mechanism
  • Mobility bifurcation
  • Parallel mechanism

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'Design of general kinematotropic mechanisms'. Together they form a unique fingerprint.

Cite this