Mechanical torque generator and related kinematic chains

Abstract

This invention is related to a mechanical torque generator (MTG) (11), the cost, the maintenance costs and the energy consumption of which have been minimized, as much as possible, since the reaction forces, the reaction moments and the frictional forces at the joints that connect the mechanism to the ground have been minimized as much as possible; which does not possess any actuators; and which can generate any desired torque variation. MTG (11) may be obtained by using 3 novel kinematic chains. By using these kinematic chains, it is also possible to obtain general purpose mechanisms, which have advantages similar to the MTG (11); which may include an actuator; which may generate relative rotational motion at a joint as any desired function of relative translational motion at another joint; which may be used in many different fields such as hydraulic and pneumatic machines, internal combustion engines and compressors.

Description

TECHNICAL FIELD

This invention is related to a mechanical torque generator (MTG), the cost, the maintenance cost and the energy consumption of which has been reduced as much as possible; which doesn't include any actuators; which can generate any desirable torque variation; and this invention is also related to general purpose mechanisms, which can be obtained from the 3 novel kinematic chains that the MTG has been derived from; which can be used in many different applications, such as hydraulically and pneumatically actuated machines, internal combustion engines and compressors; which possess advantages similar to the MTG; and which may include actuators.

BACKGROUND ART

In the literature, there are many 1 degree of freedom planar mechanisms, the input link of which is translating, whereas the output link is rotating. For example, in FIG. 1, the slider crank mechanism, which is a one degree of freedom, planar mechanism, is shown with the input and output parameters being denoted by s_i and θ₀. In this mechanism, it is possible to generate, approximately, any desired torque T(θ₀); and any input-output relation, given by equation (E1), by properly designing the kinematic dimensions, the free length of the spring used, and the spring constant k. Although the input-output relation given by equation (E1) and the desired torque, T(θ_o), can be produced only approximately in the slider crank mechanism; it is possible to generate, as much as the physical constraints allow, any desired input-output relation and any desired torque without making any approximations (i.e., exactly in the desired manner) by using mechanisms that include a cam pair and/or a cylinder in slot joint.

The slider crank mechanism shown in FIG. 1 is connected to the ground by 1 prismatic joint and 1 revolute joint. The reaction forces, reaction moments and frictional forces that occur at these 2 joints constitute the shaking forces and moments exerted on the ground. The aforementioned shaking forces and moments will depend upon the T(θ₀) torque that is generated, the inertia forces and moments, due to D'Alembert's principle, that act on the moving links; and the weights of the links. In general, in this type of an application, the shaking forces and moments will, to a large extent, be due to the T(θ₀) torque and the inertia forces and moments; and the contribution of the weights of the links to the shaking forces and moments will be relatively smaller.

As is well known, the shaking forces and moments cause undesirable noise and vibrations at the bearings that connect the mechanism to the ground. Due to these reasons, the mechanism works in a disturbingly noisy manner and the bearings wear out quickly. Although the measures taken to prevent the noise and the vibrations cannot provide a fully satisfactory solution, they increase the cost of the system. Furthermore, due to the friction at the 2 joints that connect the mechanism to the ground, extra energy, which adversely affects the energy consumption of the mechanism, is consumed.

DISCLOSURE OF THE INVENTION

One of the purposes of this invention is to realize a mechanical torque generator (11),

• • such that, the wear at the joints that connect the mechanism to the ground is minimum since the reaction forces, reaction moments and friction forces at these joints are, to a great extent, due to the weights of the links only;
  • such that, the lives of the joints that connect the mechanism to the ground is maximum since the reaction forces, reaction moments and friction forces at these joints are, to a great extent, due to the weights of the links only;
  • such that, the maintenance costs of the joints that connect the mechanism to the ground are minimum since the lives of these joints have been maximized as much as possible;
  • such that, the shaking forces and moments transmitted to the ground are minimum since the reaction forces, reaction moments and friction forces at these joints are, to a great extent, due to the weights of the links only;
  • such that, the noise generated by the mechanism is minimum since the shaking forces and moments transmitted to the ground have been minimized;
  • such that, the vibrations transmitted to the ground is minimum since the shaking forces and moments transmitted to the ground have been minimized;
  • such that, the costs related to preventing noise and vibrations in the mechanism are minimum since the noise and the vibrations transmitted to the ground have been minimized as much as possible;
  • such that, the energy consumption of the mechanism is minimum since the friction forces at the joints that connect the mechanism to the ground are, to a great extent, due to the weights of the links only;
  • which, without using any actuators and by using only springs, can generate any desired torque variation.

Another purpose of the invention is to realize a general purpose mechanism,

• • such that, the wear at the joints that connect the mechanism to the ground is minimum since the reaction forces, reaction moments and friction forces at these joints are, to a great extent, due to the weights of the links only;
  • such that, the lives of the joints that connect the mechanism to the ground is maximum since the reaction forces, reaction moments and friction forces at these joints are, to a great extent, due to the weights of the links only;
  • such that, the maintenance costs of the joints that connect the mechanism to the ground are minimum since the lives of these joints have been maximized as much as possible;
  • such that, the shaking forces and moments transmitted to the ground are minimum since the reaction forces, reaction moments and friction forces at these joints are, to a great extent, due to the weights of the links only;
  • such that, the noise generated by the mechanism is minimum since the shaking forces and moments transmitted to the ground have been minimized;
  • such that, the vibrations transmitted to the ground is minimum since the shaking forces and moments transmitted to the ground have been minimized;
  • such that, the costs related to preventing noise and vibrations in the mechanism are minimum since the noise and the vibrations transmitted to the ground have been minimized as much as possible;
  • such that, the energy consumption of the mechanism is minimum since the friction forces at the joints that connect the mechanism to the ground are, to a great extent, due to the weights of the links only;
  • in which, the rotational motion of the output link can be obtained as any desired function of the translational motion of the input link;
  • that can be used in many different areas, such as hydraulically or pneumatically actuated machines, internal combustion engines and compressors.

Another purpose of the invention is to realize a general purpose mechanism,

• • such that, the wear at the joints that connect the mechanism to link number 1 is minimum since the reaction forces, reaction moments and friction forces at these 4 joints are, to a great extent, due to the weights of the links and due to the external forces, external moments, inertia forces and inertia moments acting, only, on link number 1;
  • such that, the lives of the joints that connect the mechanism to link number 1 is maximum since the reaction forces, reaction moments and friction forces at these 4 joints are, to a great extent, due to the weights of the links and due to the external forces, external moments, inertia forces and inertia moments acting, only, on link number 1;
  • such that, the maintenance costs of the joints that connect the mechanism to link number 1 are minimum since the lives of these 4 joints have been maximized as much as possible;
  • such that, the energy consumption of the mechanism is minimum since the friction forces at the 4 joints that connect the mechanism to link number 1 are, to a great extent, due to the weights of the links and due to the external forces, external moments, inertia forces and inertia moments acting, only, on link number 1;
  • in which, the relative rotational motion at a joint can be obtained as any desired function of the relative translational motion at another joint;
  • that can be used in many different areas, such as hydraulically or pneumatically actuated machines, internal combustion engines and compressors.

BRIEF DESCRIPTION OF THE INVENTION

A mechanism is a mechanical system which consists of links, connected to each other by joints; and, which is used to transfer motion and/or force from one location to another. High reaction forces and moments, and high frictional forces and moments that occur at the joints of a mechanism not only cause early wearing of the bearings; but, increase the energy consumption of the mechanism as well. Furthermore, mechanisms exert shaking forces and shaking moments to the ground that they are mounted on. The aforementioned shaking forces and moments are due to the reaction forces, reaction moments, frictional forces and frictional moments that occur at the joints that connect the mechanism to the ground; causing undesirable vibrations on the ground and noise.

The invention mentioned in this description is related to a one degree of freedom (as far as its practical usage is concerned), overconstrained (or, in permanently critical form), novel planar mechanism, the input link of which translates; whereas, the output link of which rotates around a fixed axis. In this description, the input and output links refer to any two links which are connected to the ground with a joint; and the frequently used assumption, which states that the input link is the link which actuates the mechanism, has not been used. The rotational motion of the output link of the aforementioned original mechanism can be obtained as any desired function of the translational motion of the input link. Furthermore, provided that the kinematic dimensions, the inertial parameters of the links and the loading conditions of this novel mechanism satisfy certain conditions; the shaking forces transmitted to the ground, the shaking moments transmitted to the ground and the friction forces at the joints that connect the mechanism to the ground will be minimum, since, basically, they will depend on the weights of the links only. Since the frictional forces are minimized, the energy consumption of the mechanism will be minimum. The mechanical torque generator, which is the subject of this invention; which can produce any desired torque; for which the shaking forces transmitted to the ground, the shaking moments transmitted to the ground, the frictional forces at the joints that connect the mechanism to the ground, and hence the energy consumption of the mechanism, are minimum; is obtained by mounting springs between some of the links of the novel mechanism mentioned above.

In this description, the mechanism named as the EqMTG_1&2 mechanism is a mechanism which is obtained by replacing the revolute joint (18) in the MTG mechanism by a cylinder in slot joint; and it is a mechanism which is not in permanently critical form (or, not overconstrained). This aforementioned cylinder in slot joint causes the path, on link 1, of point (O₂)₂ to be coincident with the x₁ axis; and it also causes link 2 to rotate, relative to link 1, around an axis which is parallel to the z₁ axis and which passes through the point (O₂)₂. Here, (O₂)₂ designates the origin O₂ on link 2 (See FIG. 2). In case the kinematic dimensions and input motions of the MTG (11) and EqMTG_1&2 mechanisms are the same, the motions of the two mechanisms will be identical.

EqMTG_1&3 mechanism (12), on the other hand, is another mechanism which is not in permanently critical form (or, not overconstrained); and which is obtained from the MTG mechanism (11) by replacing the prismatic joint (20) by the cylinder in slot joint (26). This aforementioned cylinder in slot joint (26), causes the path, on link 1, of point U3₃ to be coincident with the y₁ axis; and it causes link 3 to rotate, relative to link 1, around an axis which is parallel to the z₁ axis and which passes through the point U3₃ Here, U3₃ designates a point on link 3 which is located on the y₃ axis. Similar to the EqMTG_1&2 mechanism, in case the kinematic dimensions and input motions of the MTG (11) and EqMTG_1&3 (12) mechanisms are the same, the motions of the two mechanisms will be identical. As was the case in the MTG mechanism (11), provided that the kinematic dimensions, the inertial parameters of the links and the loading conditions of the EqMTG_1&2 and EqMTG_1&3 (12) mechanisms satisfy certain conditions, the shaking forces transmitted to the ground, the shaking moments transmitted to the ground and the friction forces at the joints that connect the mechanism to the ground, and because of this, the energy consumption of the mechanism, are minimum.

All of the mechanisms that are obtained by the method of kinematic inversion from the kinematic chains that the MTG (11), EqMTG_1&2 and EqMTG_1&3 (12) mechanisms are derived from, possess advantages similar to the MTG (11), EqMTG_1&2 and EqMTG_1&3 (12) mechanisms. In these mechanisms that are obtained by the kinematic inversion method, the relative rotational motion at a joint can be obtained as any desired function of the relative translational motion at another joint. Furthermore, provided that the kinematic dimensions, the inertial parameters of the links and the loading conditions of the aforementioned mechanisms satisfy certain conditions, the reaction forces, the reaction moments and the Coulomb friction forces at each of the 4 joints (18), (20), (19), (21) that connect link 1 to links 2, 3, 4 and 5 of these mechanisms, to a great extent, will arise from the the external forces and external moments acting on link 1 and the inertia forces and inertia moments, due to D'Alembert's principle, acting on link 1; and they will be, to a great extent, independent from the external forces and external moments that are acting on links other than link 1 and the accelerations of the links other than link 1.

BRIEF DESCRIPTION OF THE DRAWINGS AND REFERENCES

“A Mechanical Torque Generator and Related Kinematic Chains” that is realized to achieve the purpose of this invention is shown in the attached figures, which are listed below.

FIG. 1—Schematic view of a slider crank mechanism that exists in the literature.

FIG. 2—Schematic view of the mechanical torque generator (11) that is the subject of the invention.

FIG. 3—Table showing the joints that are used in the mechanical torque generator (11) that is the subject of the invention.

FIG. 4—Schematic view of the mechanism named as Equivalent Mechanical Torque Generator 1 & 3 (EqMTG_1&3) (12), which is obtained by replacing the prismatic joint (20) in the mechanical torque generator (11) with a cylinder in slot joint (26).

FIG. 5—Schematic view of the Minimum Friction and Shaking-Translation to any Rotation (MinFaS-TaR) (13) mechanism which differs from the mechanical torque generator (11) with respect to the loading conditions only.

FIG. 6—Table showing the conditions that the mechanical torque generator (11) and the MinFaS-TaR (13) mechanisms must satisfy.

All parts shown in the figures have been numbered; leading to the correspondences that are listed below.

• • 1. Link 1
  • 2. Link 2
  • 3. Link 3
  • 4. Link 4
  • 5. Link 5
  • 6. Link 6
  • 7. Link 7
  • 8. Link 8
  • 9. Link 9
  • 10. Spring
  • 11. Mechanical Torque Generator
  • 12. Equivalent Mechanical Torque Generator-1&3 mechanism
  • 13. Minimum Friction and Shaking-Translation to any Rotation mechanism
  • 14. Revolute joint that connects link 2 (2) and link 6 (6)
  • 15. Revolute joint that connects link 4 (4) and link 7 (7)
  • 16. Revolute joint that connects link 2 (2) and link 8 (8)
  • 17. Revolute joint that connects link 4 (4) and link 9 (9)
  • 18. Revolute joint that connects link 1 (1) and link 2 (2)
  • 19. Revolute joint that connects link 1 (1) and link 4 (4)
  • 20. Prismatic joint that connects link 1 (1) and link 3 (3)
  • 21. Prismatic joint that connects link 1 (1) and link 5 (5)
  • 22. Cylinder in slot joint that connects link 3 (3) and link 6 (6)
  • 23. Cylinder in slot joint that connects link 3 (3) and link 7 (7)
  • 24. Cylinder in slot joint that connects link 5 (5) and link 8 (8)
  • 25. Cylinder in slot joint that connects link 5 (5) and link 9 (9)
  • 26. Cylinder in slot joint that connects link 1 (1) and link 3 (3)

DETAILED DESCRIPTION OF THE INVENTION

A schematic view of the Mechanical Torque Generator (11) is given in FIG. 2. In the MTG (11), there are totally 9 links, including the ground which is labelled as link 1. O₁x₁y₁, O₂x₂y₂, O₃x₃y₃, O₄x₄y₄, O₅x₅y₅, O₆x₆y₆, O₇x₇y₇, O₈x₈y₈ and O₉x₉y₉ coordinate systems are reference frames which are connected to links 1,2,3,4,5,6,7,8 and 9 (1,2,3,4,5,6,7,8 and 9) respectively, such that x₃ and x₅ axes are parallel to the x₁ axis; y₃ and y₅ axes, on the other hand, are parallel to the y₁ axis. In order not to make the figure more complicated, the x and y axes belonging to links 6, 7, 8 and 9 (6,7,8 and 9) have not been shown in FIG. 2.

The joints used in the MTG (11) are shown in FIG. 3. In this table, R, P, and C_s symbolizes a revolute joint, a prismatic joint and a cylinder in slot joint, respectively. By using FIG. 3, it is possible to observe which link is connected to which other link, and with what kind of a joint. For example, when one considers the 5^th row of the 9×9 matrix given in FIG. 3, it is observed that link 5 (5) is connected to links 1, 8 and 9 (1, 8 and 9) by means of a prismatic joint (21), cylinder in slot joint (24) and another cylinder in slot joint (25), respectively.

Roller number 6 (6) used in the MTG (11) moves inside a slot on link 3 (3). The curve that is located exactly in the middle of this slot, labelled as LO_3R (see FIG. 2), is the locus, on link 3 (3), of point A₆ on link 6 (6). Here, A₆ symbolyses point A on link 6 (6). In general, on the other hand, P_i defines point P on link i. Point B₇, on the other hand, follows the curve LO_3L on link 3 (3). Similarly, points D₉ and C₈ move along the curves LO_5R and LO_5L on link 5 (5), respectively.

The output links of the mechanical torque generator (11) are links 2 and 4 (2 and 4), the angular positions of which are shown by θ_o(t). The torques T₂(θ_o) and T₄(θ_o) in FIG. 2, on the other hand, indicate the torques generated by the mechanical torque generator (11) (i.e., the outputs of the generator). Since these torques have to be equal to each other (see equation (E48)), both torques can be denoted by T(θ_o). As can be understood from the symbols that are used, the torques T₂(θ_o) and T₄(θ_o) depend on the angular position of the output link.

In FIG. 2, there is a spring (10), with a spring constant of k_u, between the fixed chassis (1) and link 3 (3). The spring constant of the spring (10) between the chassis (1) and link 5 (5), on the other hand, is labelled as k_l.

The mechanical torque generator (11) is a planar mechanism, the input link of which executes translational motion, whereas, the output link of which executes rotational motion around a fixed axis; the practical degree of freedom which is 1; and for which, it is possible to obtain any relation between the input link's position, s_i(t), and the output link's angular position, θ_o(t) (See FIG. 2), that can be expressed asθ_o=f(s_i)  (E1)when the kinematic dimensions of the MTG (11) are designed appropriately. Here, f(s_i) symbolizes any function which depends on s_i, such that the function and its derivatives are continuous. Furthermore, it is useful to remember that, if desired, instead of equation (E1), the desired input-output relationship can be expressed as s_i=g(θ_o).

By using the MTG (11), in addition to generating a desired input-output relationship, it is also possible to generate any desired torque T(θ_o) by properly designing the kinematic dimensions of the mechanical torque generator (11), the free lengths of the springs used and the spring constants k_u and k_l.

In order to find the degree of freedom of the mechanical torque generator (11), the equation

$\begin{array}{cc}F=\lambda \left(l-j-1\right)+\sum _{i=1}^{i=j}{f}_i& \left(\mathrm{E2}\right)\end{array}$ may be used. Here, F, λ, l and j denote the degree of freedom of the mechanism, the degree of freedom of the space in which the mechanism works, the number of links of the mechanism and the number of joints of the mechanism, respectively. f_i, on the other hand, is the degree of freedom of joint i. Since the MTG (11) is a planar mechanism, one hasλ=3  (E3)

Furthermore, using FIG. 2 and FIG. 3, one obtainsl=9  (E4)j=12  (E5)

As seen in FIG. 3, in the MTG (11), there are six 1 degree of freedom revolute joints (14), (15), (16), (17), (18), (19); two 1 degree of freedom prismatic joints (20), (21); and four 2 degree of freedom cylinder in slot joints (22), (23), (24), (25). Hence, one obtains

$\begin{array}{cc}\sum _{i=1}^{i=j}{f}_i=6\times 1+2\times 1+4\times 2=16& \left(\mathrm{E6}\right)\end{array}$

If equations (E3)-(E6) are substituted into equation (E2), one obtainsF=4  (E7)

On the other hand, the real degree of freedom of the mechanism should beF_g=5  (E8)

The reason for the difference between the degree of freedom obtained by using equation (E2) and the real degree of freedom is that, the MTG (11) is a mechanism which is in permanently critical form. In other words, because of the special kinematic dimensions used in the MTG (11) [See equations (E10)-(E22)], the constraints due the joints of the MTG (11) are not independent from each other. Because of these special kinematic dimensions, the coordinates, with respect to the O₁x₁y₁ coordinate system fixed to the ground (1), of the points A₂, B₄, C₂ and D₄ (See FIG. 2), which are the centers of the disks 6,7,8 and 9 (6, 7, 8 and 9), are (x_a, y_a), (−x_a, y_a), (−x_a,−y_a) and (x_a, −y_a), respectively, throughout the totality of the motion.

On the other hand, when the usage of the mechanism is considered, it can be said that the practical degree of freedom of the mechanical torque generator isF_g,p=F_g−4=1  (E9)since rotations of links 6, 7, 8 and 9 (6, 7, 8 and 9), around the axes which pass through the points A, B, C and D and which are parallel to the z₁ axis, have no importance in an application.

The special kinematic dimensions that are used in the MTG (11), and that have been mentioned above, are listed below.P₂A₂=P₂C₂=P₄B₄=P₄D₄  (E10)(K₁P₁L₁ line)⇔(x₁ axis)  (E11)(y₃ axis)⇔(y₁ axis)  (E12)(y₅ axis)⇔(y₁ axis)  (E13)r₆=r₇=r₈=r₉  (E14)X_LO3R=f(p)  (E15)y_LO3R=g(p)  (E16)x_LO3L=−f(p)  (E17)y_LO3L=g(p)  (E18)x_LO5R=f(p)  (E19)y_LO5R=−g(p)  (E20)x_LO5L=−f(p)  (E21)y_LO5L=−g(p)  (E22)

The symbol “⇔” in equations (E11)-(E13) has been used to mean “coincident”; whereas, in equation (E14), r₆, r₇, r₈ and r₉ symbolize the radii of the disks 6, 7, 8 and 9 (6, 7, 8 and 9), respectively. (x_LO3R, y_LO3R) symbolizes the x and y coordinates, with respect to the O₃x₃y₃ system, of a point on the LO_3R curve. On the other hand, (x_LO3L, y_LO3L) symbolizes the x and y coordinates, with respect to the O₃x₃y₃ system, of a point on the LO_3L curve. In a similar manner, (x_LO5R, y_LO5R) and (x_LO5L, y_LO5L) indicate the x and y coordinates, with respect to the O₅x₅y₅ system, of a point on the LO_5R and LO_5L curves, respectively. On the other hand, p symbolizes a parameter, the lower and upper bounds of which are p_min and p_max. In other words, there is a constraint on the parameter p that can be expressed in the formp_min≤p≤p_max  (E23)

Finally, f and g are two functions which are used to define the curves LO_3R, LO_3L, LO_5R and LO_5L. Here, the functions

$f\left(p\right),\frac{df}{dp},\frac{d^{2}f}{d{p}^2},g\left(p\right),\frac{dg}{dp}\mathrm{and}\frac{d^{2}g}{d{p}^2}$ should be continuous.

Provided that the kinematic dimensions of the MTG (11) satisfy the conditions given by equations (E10)-(E22), throughout the motion of torque generator, one will have∠K₁P₁B₄=∠L₁P₁A₂  (E24)O₁O₃=O₁O₅  (E25)

In FIG. 2, angle ∠K₁P₁B₄ and length O₁O₃ have been indicated as θ₀(t) and s_i(t), respectively.

There are conditions that should be satisfied by the inertial parameters of the links of the MTG (11) too. These conditions are listed below.m₂=m₄  (E26)m₃=m₅  (E27)m₆=m₇=m₈=m₉  (E28)x_G2=0  (E29)x_G3=0  (E30)x_G4=0  (E31)x_G5=0  (E32)x_G6=0  (E33)x_G7=0  (E34)x_G8=0  (E35)x_G9=0  (E36)y_G2=0  (E37)y_G4=0  (E38)y_G6=0  (E39)y_G7=0  (E40)y_G8=0  (E41)y_G9=0  (E42)I_G2=I_G4  (E43)I_G6=I_G7=I_G8=I_G9  (E44)

Here, G_i, m_i, x_Gi and y_Gi symbolize the center of gravity, mass, the x coordinate of the center of gravity, with respect to the O_ix_iy_i system attached to link i, and the y coordinate of the center of gravity, with respect to the O_ix_iy_i system of link i, of link i, respectively. I_Gi, on the other hand, is the moment of inertia of link i with respect to an axis which passes from G_i and which is parallel to the z₁ axis.

Finally, the conditions that should be satisfied by the external forces and external moments (See FIG. 2) applied to the MTG(11) are given below.(k_u spring)⇔(y₁ axis)  (E45)(k_l spring)⇔(y₁ axis)  (E46){right arrow over (F)}_ku=−{right arrow over (F)}_kl  (E47)T₄(θ_o)=T₂(θ_o)  (E48)

In equality (E47), {right arrow over (F)}_ku and {right arrow over (F)}_kl indicate the forces applied to links 3 and 5 (3 and 5) by the springs (10) with spring constants k_u and k_l, respectively.

Now, let us consider a planar mechanism which is named as Equivalent Mechanical Torque Generator-1 & 2. Except for the type of joint which connects links 1 and 2 (1 and 2), EqMTG_1&2 and the MTG (11) shown in FIG. 2 are the same mechanism. In the MTG (11), there is a revolute joint, (18), between link 2 (2) and the ground (1). On the other hand, in the EqMTG_1&2, link 2 (2) and the ground (1) are connected to each other by means of a 2 degree of freedom cylinder in slot joint. This aforementioned cylinder in slot joint causes the path, on link 1 (1), of point (O₂)₂ to be coincident with the x₁ axis [or, any line which passes through the origin (O₁)₁]; and it also causes link 2 (2) to rotate, with respect to link 1 (1), around an axis which is parallel to the z₁ axis and which passes through the point (O₂)₂. Here, (O₂)₂ symbolizes the origin O₂ on link 2 (2). Furthermore, the kinematic dimensions of the EqMTG_1&2 mechanism satisfy conditions (E10)-(E22). When the degree of freedom of the EqMTG_1&2 mechanism is calculated by using equation (E2), one obtainsF=5  (E49)

The degree of freedom thus obtained is the actual degree of freedom of the EqMTG_1&2 mechanism. Because of this, on the contrary to the MTG (11) mechanism, the EqMTG_1&2 mechanism is not a mechanism which is in permanently critical form. In case the kinematic dimensions and the input motions of the EqMTG_1&2 and MTG (11) mechanisms are the same, the motions of the mechanisms will also be the same.

In FIG. 4, a planar mechanism named as Equivalent Mechanical Torque Generator-1 & 3 (12) is shown. The C₁₃ curves in FIG. 4 lie on a circle with radius b₁ and center U3₃. Here, U3₃ symbolizes a point which lies on link 3 (3) and which is located on the y₃ axis. If EqMTG_1&3 (12) and MTG (11) shown in FIG. 2 are compared, it will be seen that the mechanisms are the same except for the type of joint that connects links 1 and 3 (1 and 3). In the MTG (11), there is a prismatic joint (20) between link 3 (3) and the ground (1). On the other hand, in the EqMTG_1&3 (12), link 3 (3) and the ground (1) are connected to each other by the cylinder in slot joint (26). This cylinder in slot joint (26) causes the path, on link 1 (1), of the point U3₃ to be coincident with the y₁ axis; and it also causes link 3 (3) to rotate, relative to link 1 (1), around an axis which is parallel to the z₁ axis and which passes through the point U3₃. Furthermore, the kinematic dimensions of the EqMTG_1&3 mechanism (12) satisfy conditions (E10)-(E22). Similar to the EqMTG_1&2 mechanism, the EqMTG_1&3 mechanism (12) is a 5 degree of freedom mechanism which is not in permanently critical form. Again, as was the case in the EqMTG_1&2 mechanism, in case the kinematic dimensions and the input motions of the EqMTG_1&3 (12) and MTG (11) mechanisms are the same, the motions of the EqMTG_1&3 (12) and MTG (11) mechanisms will also be the same.

The Equivalent Mechanical Torque Generator-1 & 4 (EqMTG_1&4) mechanism, on the other hand, has been obtained, in a similar manner to the EqMTG_1&2 mechanism, by eliminating the revolute joint (19) in the MTG (11); and by replacing it with a cylinder in slot joint instead. This aforementioned cylinder in slot joint causes the path, on link 1 (1), of the point (O₄)₄ to be coincident with the x₁ axis [or, any line passing through the origin (O₁)₁]; and it also causes link 4 to rotate, relative to link 1 (1), around an axis which is parallel to the z₁ axis and which passes through the point (O₄)₄. Here, (O₄)₄ symbolizes the origin O₄ on link 4 (4). In a similar manner to the EqMTG_1&3 mechanism (12), the Equivalent Mechanical Torque Generator-1 & 5 (EqMTG_1&5) mechanism has been obtained by eliminating the prismatic joint (21) in the MTG (11); and by replacing it with a cylinder in slot joint instead. This aforementioned cylinder in slot causes the path, on link 1 (1), of the point (U5)₅ to be coincident with the y₁ axis; and it also causes link 5 (5) to rotate, relative to link 1 (1), around an axis which is parallel to the z₁ axis and which passes through the point (U5)₅. Here, (U5)₅ symbolizes a point which lies on link 5 (5) and which is located on the y₅ axis. EqMTG_1&4 and EqMTG_1&5 mechanisms have the same properties with EqMTG_1&2 and EqMTG_1&3 (12).

Now, related to the (EqMTG_1&3) (12) mechanism shown in FIG. 4, let us consider the 6 conditions that are given below.

(C1) The kinematic dimensions of the mechanism satisfy equalities (E10)-(E22).

(C2) The inertial parameters of the mechanism satisfy equalities (E26)-(E44).

(C3) The loading conditions of the mechanism satisfy equalities (E45)-(E48).

(C4) Gravitational acceleration, {right arrow over (g)}, is zero.

(C5) The friction related properties of the 4 revolute joints (14), (15), (16), (17) which connect links 6, 7, 8 and 9 (6, 7, 8 and 9) to links 2 and 4 (2 and 4) are equal to each other.

(C6) The friction related properties of the 4 cylinder in slot joints (22), (23), (24), (25) which connect links 6, 7, 8 and 9 (6, 7, 8 and 9) to links 3 and 5 (3 and 5) are equal to each other.

In case the above conditions are satisfied, all of the reaction forces and moments at the joints that connect the mechanism to the ground (1) will always [i.e., for any given input motion s_i(t); for any given θ_o=f(s_i) relation given by equation (E1); and for any time t] be obtained to be{right arrow over (F)}₁₂(t)=F₁₂^x(t){right arrow over (i)}₁+F₁₂^y(t){right arrow over (j)}₁={right arrow over (0)}  (E50){right arrow over (F)}₁₃(t)=F₁₃(t){right arrow over (i)}₁={right arrow over (0)}  (E51){right arrow over (F)}₁₄(t)=F₁₄^x(t){right arrow over (i)}₁+F₁₄^y(t){right arrow over (j)}₁={right arrow over (0)}  (E52){right arrow over (F)}₁₅(t)=F₁₅(t){right arrow over (i)}₁={right arrow over (0)}  (E53){right arrow over (M)}₁₅(t)=M₁₅(t){right arrow over (k)}₁={right arrow over (0)}  (E54)

Here, {right arrow over (F)}_1i(t) and {right arrow over (M)}_1i(t) [i=2, 3, 4, 5] symbolize the reaction forces and moments, arising due to a revolute, prismatic, or cylinder in slot joint, that are exerted on link i by the ground. F_1i^x and F_1i^y on the other hand, indicate the x₁ and y₁ components of the force {right arrow over (F)}_1i. Furthermore, {right arrow over (i)}₁, {right arrow over (j)}₁ and {right arrow over (k)}₁ are unit vectors which are parallel to the x₁, y₁ and z₁ axes. As can be seen from equations (E50)-(E54) clearly, the shaking force and the z₁ component of the shaking moment transmitted to the ground (1), by the EqMTG_1&3 mechanism (12), are zero. Furthermore, since the reaction forces and moments at each of the 4 joints that connect the mechanism to the ground are zero, the Coulomb friction forces at each of these joints will also be zero. Here, one should pay attention to the fact that, whatever the torque produced by the EqMTG_1&3 (12) and whatever the accelerations of the links of the EqMTG_1&3 (12) are, the shaking force, the shaking moment and the frictional forces are still zero.

In case they satisfy the conditions that the EqMTG_1&3 (12) mechanism must satisfy, which are conditions C1-C6 given above, in a similar manner, in the EqMTG_1&2, EqMTG_1&4 and EqMTG_1&5 mechanisms, independent from the generated torque T(θ_o) and the accelerations of the links, the shaking force transmitted to the ground, the shaking moment transmitted to the ground and the Coulomb frictional forces at each of the 4 links which connect the mechanism to the ground will be zero.

As mentioned before, the MTG (11) that is shown in FIG. 2 is a mechanism which is in permanently critical form. For this reason, the dynamic force analysis of the mechanism is a problem that involves static indeterminacy. In other words, in order to perform a dynamic force analysis of the mechanism; besides the equations obtained from rigid body mechanics, one also needs deformation equations arising from the flexibility of the links. For this reason, when only the equations obtained from rigid body mechanics are used, the dynamic force analysis of the (MTG) (11) will yield infinitely many solutions. In case the MTG (11) satisfies the 6 conditions related to the EqMTG_1&3 mechanism (12) given before (i.e., conditions C1-C6), these aforementioned solutions will also include the dynamic force analysis solutions of the EqMTG_1&2, EqMTG_1&3 (12), EqMTG_1&4 and EqMTG_1&5 mechanisms, i.e., the solutions given by equations (E50)-(E54). For this reason, by designing the link flexibilities of the MTG (11) properly, it is also possible to make the shaking force transmitted to the ground, the shaking moment transmitted to the ground and the Coulomb frictional forces at each of the 4 joints that connect the mechanism to the ground zero; or, approximately zero.

In case condition (C4), which is one of the 6 conditions related to the MTG (11), EqMTG_1&2, EqMTG_1&3 (12), EqMTG_1&4 and EqMTG_1&5 mechanisms, is not satisfied (i.e., gravitational acceleration, {right arrow over (g)}, is not zero), although the shaking force transmitted to the ground, the shaking moment transmitted to the ground and the Coulomb frictional forces at each of the 4 joints that connect the mechanism to the ground will not be zero; basically, they will be due to the weights of the links only and they will be independent from the generated torque T(θ_o) and the accelerations of the links.

In FIG. 5, a mechanism, which differs from the MTG (11) only with respect to the loading, is shown. In this mechanism, the 2 springs (10) that exist in the MTG (11) have been removed; and the external forces F_u(s_i) and F_l(s_i) have been substituted instead. The aforementioned 2 external forces should satisfy the conditions given below.F_u(s_i)⇔(y₁ axis)  (E55)F_l(s_i)⇔(y₁ axis)  (E56)F_u(s_i)=F_l(s_i)  (E57)

The mechanism given in FIG. 5 is named as the Minimum Friction and Shaking-Translation to any Rotation mechanism (13); and, similar to the MTG (11) mechanism, it is a mechanism which is in permanently critical form. The conditions that should be satisfied by the kinematic dimensions, the inertial parameters and the loading conditions of the MTG (11) and the MinFaS-TaR (13) mechanisms are given in the table presented in FIG. 6.

Now, similar to the EqMTG_1&3 (12) mechanism, let us consider the mechanism named as Equivalent Minimum Friction and Shaking-Translation to any Rotation-1&3 (EqMinFaS-TaR_1&3) mechanism. Except for the type of joint that connects links 1 and 3 (1 and 3), the EqMinFaS-TaR_1&3 and MinFaS-TaR (13) mechanisms are the same. In the MinFaS-TaR (13), there is a prismatic joint (20) between link 3 (3) and the ground (1). In the EqMinFaS-TaR_1&3 mechanism, on the other hand, link 3 (3) and the ground (1) have been connected by a cylinder in slot joint. The aforementioned cylinder in slot joint causes the path, on link 1 (1), followed by the point U3₃ to coincide with the y₁ axis; and it also causes link 3 (3) to rotate, relative to link 1 (1), around an axis which is parallel to the z₁ axis and which passes through the point U3₃. Here, U3₃ symbolizes a point on link 3 (3) that is located on the y₃ axis. On the contrary to the MinFaS-TaR (13) mechanism, the EqMinFaS-TaR_1&3 mechanism is not a mechanism which is in permanently critical form. In case the kinematic dimensions and the input motions of the EqMinFaS-TaR_1&3 and MinFaS-TaR (13) mechanisms are the same, the motions of the mechanisms are also the same. EqMinFaS-TaR_1&2, EqMinFaS-TaR_1&4 and EqMinFaS-TaR_1&5 mechanisms are also defined in a similar manner to the EqMinFaS-TaR_1&3 mechanism. All of the claims made previously for the MTG (11), EqMTG_1&2, EqMTG_1&3 (12), EqMTG_1&4 and EqMTG_1&5 mechanisms (related to the shaking force transmitted to the ground, shaking moment transmitted to the ground and the Coulomb frictional forces at each of the 4 joints that connect the mechanism to the ground) are also valid for the MinFaS-TaR (13), EqMinFaS-TaR_1&2, EqMinFaS-TaR_1&3, EqMinFaS-TaR_1&4 and EqMinFaS-TaR_1&5 mechanisms. In other words, in the MinFaS-TaR (13), EqMinFaS-TaR_1&2, EqMinFaS-TaR_1&3, EqMinFaS-TaR_1&4 and EqMinFaS-TaR_1&5 mechanisms, the shaking force transmitted to the ground, the shaking moment transmitted to the ground and the Coulomb frictional forces at each of the 4 joints that connect the mechanism to the ground, will be, basically, due to the weights of the links only.

As mentioned before, if the loading conditions are not considered, the MTG (11) and the MinFaS-TaR (13) mechanisms shown in FIG. 2 and FIG. 5 have no differences from each other. In other words, from a kinematic point of view, the MTG (11) and MinFaS-TaR (13) mechanisms are the same mechanism. Both mechanisms have been obtained from a planar kinematic chain [which is obtained by connecting 9 links to each other by using 6 revolute joints, 2 prismatic joints and 4 cylinder in slot joints, in accordance with the table in FIG. 3; and the kinematic dimensions of which satisfy conditions (E10)-(E22)] by making link 1 (1) to be unmoveable (i.e., by making link 1 (1) to be the ground). The aforementioned novel kinematic chain has been named as Kinematic Chain with 2 Optimum Revolute and 2 Optimum Prismatic Joints (KCw2ORa2OPJ) in this description. Since KCw2ORa2OPJ is a mechanism which is in permanently critical form, all of the mechanisms that are obtained from this chain by using the kinematic inversion method will also be mechanisms which are in permanently critical form.

In this description, the kinematic chain that the EqMTG_1&3 (12) and the EqMinFaS-TaR_1&3 mechanisms, which do not differ from each other except for the loading conditions, are derived from has been named as Equivalent Kinematic Chain with 2 Optimum Revolute and 2 Optimum Prismatic Joints-1 & 3 (EqKCw2ORa2OPJ_1&3). Since EqKCw2ORa2OPJ_1&3, the kinematic dimensions of which satisfy conditions (E10)-(E22), is a planar kinematic chain which is not in permanently critical form; all of the mechanisms that are obtained from this kinematic chain by using the method of kinematic inversion will also be mechanisms which are not in permanently critical form.

In a similar manner, the kinematic chain that the EqMTG_1&2 and EqMinFaS-TaR_1&2 mechanisms [which, if the loading conditions are not considered, do not have any differences from each other at all] are derived from is named, in this description, as Equivalent Kinematic Chain with 2 Optimum Revolute and 2 Optimum Prismatic Joints-1 & 2 (EqKCw2ORa2OPJ_1&2). Furthermore, the kinematic chain from which the EqMTG_1&4 and EqMinFaS-TaR_1&4 mechanisms are derived from; and the kinematic chain from which the EqMTG_1&5 and EqMinFaS-TaR_1&5 mechanisms are derived from are named, in this description, as Equivalent Kinematic Chain with 2 Optimum Revolute and 2 Optimum Prismatic Joints1 & 4 (EqKCw2ORa2OPJ_1&4) and Equivalent Kinematic Chain with 2 Optimum Revolute and 2 Optimum Prismatic Joints-1 & 5 (EqKCw2ORa2OPJ_1&5), respectively. Since EqKCw2ORa2OPJ_1&2 EqKCw2ORa2OPJ_1&4 and EqKCw2ORa2OPJ_1&5 planar kinematic chains, the kinematic dimensions of which satisfy conditions (E10)-(E22), are kinematic chains which are not in permanently critical form; the mechanisms that are obtained from these kinematic chains by using the method of kinematic inversion will also be mechanisms which are not in permanently critical form.

In order not to make the notation used more complicated, although they are the same kinematic chain in reality, the kinematic chains EqKCw2ORa2OPJ_1&2 and EqKCw2ORa2OPJ_1&4 have different names in this description. By the same reason, although they are not different kinematic chains, the kinematic chains EqKCw2ORa2OPJ_1&3 and EqKCw2ORa2OPJ_1&5 have different names in this description.

Provided that all mechanisms which are obtained from the EqKCw2ORa2OPJ_1&2 EqKCw2ORa2OPJ_1&3, EqKCw2ORa2OPJ_1&4 and EqKCw2ORa2OPJ_1&5 kinematic chains by the method of kinematic inversion satisfy conditions (C1)-(C6), the reaction forces and moments and the Coulomb friction forces at each of the 4 joints that connect link 1 (1) to links 2,3,4 and 5 (2,3,4 and 5) will arise from the external forces and external moments acting on link 1 (1) only and the inertial forces and inertial moments, due to D'Alembert's principle, acting on link 1 (1). In other words, in a similar manner to the EqMTG_1&2, EqMTG_1&3 (12), EqMTG_1&4 and EqMTG_1&5 mechanisms, the reaction forces, the reaction moments and the Couloumb friction forces at the aforementioned 4 joints will be independent from the accelerations of the links other than link 1 (1) and T₂(θ_o), T₄(θ_o), {right arrow over (F)}_ku and {right arrow over (F)}_kl.

As stated before, the mechanisms which are obtained from the kinematic chain KCw2ORa2OPJ will be mechanisms which are in permanently critical form. For this reason, the dynamic force analyses of these mechanisms will lead to problems which involve static indeterminacy. On the other hand, if the mechanisms which are obtained from the KCw2ORa2OPJ kinematic chain with the method of kinematic inversion satisfy conditions (C1)-(C6); and moreover, if, similar to the MTG (11) mechanism, the flexibilities of the links are designed in an appropriate manner; the reaction forces and moments and the Coulomb friction forces at each of the 2 revolute (18), (19) and 2 prismatic (20), (21) joints which connect link 1 (1) to links 2, 3, 4 and 5 (2, 3, 4 and 5) will, to a large extent, arise from the external forces and external moments acting on link 1 (1) only and the inertial forces and inertial moments, due to D'Alembert's principle, acting on link 1 (1). In other words, the reaction forces, the reaction moments and the Couloumb friction forces at the aforementioned 4 joints, will be, to a large extent, independent from the accelerations of the links other than link 1 (1) and T₂(θ_o), T₄(θ_o), {right arrow over (F)}_ku and {right arrow over (F)}_kl.

In case condition (C4) is not satisfied, i.e., the gravitational acceleration is not zero, in the kinematic chains EqKCw2ORa2OPJ, EqKCw2ORa2OPJ_1&2, EqKCw2ORa2OPJ_1&3, EqKCw2ORa2OPJ_1&4 and EqKCw2ORa2OPJ_1&5, the reaction forces and moments and the Coulomb friction forces at each of the 4 joints that connect link 1 to the other links will, moreover, be dependent on the weights of the links as well.

As is known, in a practical application, 2 links that are connected to each other by a prismatic joint are equivalent to a piston—cylinder pair that contains pressurized oil, or gas. For this reason, the mechanisms, that will be obtained using the method of kinematic inversion from the kinematic chains EqKCw2ORa2OPJ, EqKCw2ORa2OPJ_1&2, EqKCw2ORa2OPJ_1&4, which have two prismatic joints; and the kinematic chains EqKCw2ORa2OPJ_1&3 and EqKCw2ORa2OPJ_1&5, which have one prismatic joint, are expected to be useful in many different fields such as hydraulically or pneumatically actuated machines, internal combustion engines and compressors. In the aforementioned mechanisms, any number of actuators may be used. Furthermore, spring(s) and/or damper(s) can be mounted between any two links in the mechanisms.

Claims

1. A planar kinematic chain comprising: first, second, third, fourth, fifth, sixth, seventh, eighth and ninth links (1, 2, 3, 4, 5, 6, 7, 8, 9), and first, second, third, fourth, fifth and sixth revolute joints (14, 15, 16, 17, 18, 19), and first and second prismatic joints (20, 21), and first, second, third and fourth cylinder in slot joints (22, 23, 24, 25);wherein, the second link (2) and the sixth link (6) are connected by the first revolute joint (14), the fourth link (4), and the seventh link (7) are connected by the second revolute joint (15), the second link (2) and the eighth link (8) are connected by the third revolute joint (16), the fourth link (4) and the ninth link (9) are connected by the fourth revolute joint (17), the first link (1) and the second link (2) are connected by the fifth revolute joint (18), the first link (1) and the fourth link (4) are connected by the sixth revolute joint (19), the first link (1) and the third link (3) are connected by the first prismatic joint (20), the first link (1) and the fifth link (5) are connected by the second prismatic joint (21), the third link (3) and the sixth link (6) are connected by the first cylinder in slot joint (22), the third link (3) and the seventh link (7) are connected by the second cylinder in slot joint (23), the fifth link (5) and the eighth link (8) are connected by the third cylinder in slot joint (24), the fifth link (5) and the ninth link (9) are connected by the fourth cylinder in slot joint (25);wherein, the kinematic dimensions satisfy the conditions PA=PC=PB=PD  (E58)KPL line is coincident with the x1 axis  (E59)y3 axis is coincident with the y1 axis  (E60)y5 axis is coincident with the y1 axis  (E61)r6=r7=r8=r9  (E62),the parametric equations of the curve LO3R are given by xLO3R=f(p)  (E63)yLO3R=g(p)  (E64),the parametric equations of the curve LO3L are given by xLO3L=−f(p)  (E65)yLO3L=g(p)  (E66)the parametric equations of the curve LO5R are given by xLO5R=f(p)  (E67)yLO5R=−g(p)  (E68),the parametric equations of the curve LO5L are given by xLO5L=−f(p)  (E69)yLO5L=−g(p)  (E70)where,P is a point on the first link (1), on the second link (2) and on the fourth link (4),A, C are points on the second link (2),B, D are points on the fourth link (4),K, L are points on the first link (1),x1, y1 are mutually perpendicular axes fixed to the first link (1), x2, y2 are mutually perpendicular axes fixed to the second link (2), x3, y3 are mutually perpendicular axes fixed to the third link (3), x4, y4 are mutually perpendicular axes fixed to the fourth link (4), x5, y5 are mutually perpendicular axes fixed to the fifth link (5),O3 and O5 are origins of the body fixed coordinate systems on the third link (3) and on the fifth link (5),r6 is radius of the sixth link (6), r7 is radius of the seventh link (7), r8 is radius of the eighth link (8), r9 is radius of the ninth link (9),LO3R, LO3L are the curves that correspond to the locus of points A, B with respect to the third link (3),LO5R, LO5L are the curves that correspond to the locus of points D, C with respect to the fifth link (5),p is a parameter with lower and upper bounds pmin and pmax,xLO3R, yLO3R are the x and y coordinates, with respect to the O3x3y3 system, of point A,xLO3L, yLO3L are the x and y coordinates, with respect to the O3x3y3 system, of point B,xLO5R, yLO5R are the x and y coordinates, with respect to the O5x5y5 system of point D,xLO5L, yLO5L are the x and y coordinates, with respect to the O5x5y5 system, of point C,f(p), g(p) are two continuous functions with continuous first and second derivatives that are used to parametrically define the curves LO3R, LO3L, LO5R and LO5L.

2. The planar kinematic chain according to claim 1, wherein one link selected from the group consisting of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth links (1, 2, 3, 4, 5, 6, 7, 8, 9) is attached rigidly to the ground so that the aforementioned selected link is unable to move.

3. A planar kinematic chain comprising: first, second, third, fourth, fifth, sixth, seventh, eighth and ninth links (1, 2, 3, 4, 5, 6, 7, 8, 9), and first, second, third, fourth, fifth and sixth revolute joints (14, 15, 16, 17, 18, 19), and first and second prismatic joints (20, 21), and first, second, third and fourth cylinder in slot joints (22, 23, 24, 25);wherein, the second link (2) and the sixth link (6) are connected by the first revolute joint (14), the fourth link (4) and the seventh link (7) are connected by the second revolute joint (15), the second link (2) and the eighth link (8) are connected by the third revolute joint (16), the fourth link (4) and the ninth link (9) are connected by the fourth revolute joint (17), the first link (1) and the second link (2) are connected by the fifth revolute joint (18), the first link (1) and the fourth link (4) are connected by the sixth revolute joint (19), the first link (1) and the third link (3) are connected by the first prismatic joint (20), the first link (1) and the fifth link (5) are connected by the second prismatic joint (21), the third link (3) and the sixth link (6) are connected by the first cylinder in slot joint (22), the third link (3) and the seventh link (7) are connected by the second cylinder in slot joint (23), the fifth link (5) and the eighth link (8) are connected by the third cylinder in slot joint (24), the fifth link (5) and the ninth link (9) are connected by the fourth cylinder in slot joint (25);wherein, the kinematic dimensions do not satisfy all of the thirteen conditions, (E58)-(E70), given in claim 1;wherein, the actual degree of freedom, relative to any link selected from the group consisting of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth links (1, 2, 3, 4, 5, 6, 7, 8, 9), is strictly greater than the degree of freedom given by the equation

4. The planar kinematic chain according to claim 3, wherein one link selected from the group consisting of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth links (1, 2, 3, 4, 4, 5, 6, 7, 8, 9) is attached rigidly to the ground so that the aforementioned selected link is unable to move.

5. A planar kinematic chain comprising: first, second, third, fourth, fifth, sixth, seventh eighth and ninth links (1, 2, 3, 4, 5, 6, 7, 8, 9), and first, second, third, fourth, fifth and sixth revolute joints (14, 15, 16, 17, 18, 19), and second prismatic joint (21), and first, second, third, fourth and fifth cylinder in slot joints (22, 23, 24, 25, 26);wherein, the second link (2) and the sixth link (6) are connected by the first resolute joint (4), the fourth link (4) and the seventh link (7) are connected by the second revolute joint (15), the second link (2) and the eighth link (8) are connected by the third revolute joint (16), the fourth link (4) and the ninth link (9) are connected by the fourth revolute joint (17), the first link (1) and the second link (2) are connected by the fifth revolute joint (18), the first link (1) and the fourth link (4) are connected by the sixth revolute joint (19), the first link (1) and the fifth link (5) are connected by the second prismatic joint (21), the third link (3) and the sixth link (6) are connected by the first cylinder in slot joint (22), the third link (3) and the seventh link (7) are connected by the second cylinder in slot joint (23), the fifth link (5) and the eighth link (8) are connected by the third cylinder in slot joint (24), the fifth link (5) and the ninth link (9) are connected by the fourth cylinder in slot joint (25), the first link (1) and the third link (3) are connected by the fifth cylinder in slot joint (26);wherein, the kinematic dimensions satisfy the thirteen conditions, (E58)-(E70), given in claim 1 and conditions (E71) and (E72) given bythe locus, on the first link (1), of joint U3 on the y3 axis of the third link (3) is the y1 axis (E71)the third link (3) is able to rotate, relative to the first link (1), around an axis which is parallel to the z1 axis and which passes through the point U3 on the y3 axis of the third link (3) (E72).

6. The planar kinematic chain according to claim 5, wherein one link selected from the group consisting of the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth links (1, 2, 3, 4, 5, 6, 7, 8, 9) is attached rigidly to the ground so that the aforementioned selected link is unable to move.