Single-loop kinematotropic mechanisms

The paper concerns the chains in which changes in certain position variable s can lead to changes in the permanent finite mobilities of the chains: thi s property is called "kinematotropy". We present a systematic approach that allows us to form four basic kinematotropic single-loop chains. Then we sh ow how to modify these chains to obtain various kinematotropic mechanisms. One of the presented chains can have 1 or 2 degree(s) of freedom, depending on its position; the three remaining chains can have 2 or 3 degrees of fre edom. The approach we use to derive the chains is based on the theory of di splacement groups. Finally, an extension of the method to multiloop chains is discussed. (C) 2001 EIsevier Science Ltd. All rights reserved.