Revolute joint

Gene

Engineering

Screw theory

Joint (building)

Constraint (computer-aided design)

Telecommunications

Biochemistry

Computer science

Classical mechanics

Linkage (software)

Physics

Mathematics

Political science

Terminal (telecommunication)

Geometry

Element (criminal law)

Structural engineering

Kinematics

Chemistry

Mechanism and Machine Theory

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.

Kinematic analysis of Hoberman's Linkages with the screw theory