A NOTE ON GRASHOF’S THEOREM.pdf

Journal of Marine Science and Technology, Vol. 13, No. 4, pp. 239-248 (2005) 239 A NOTE ON GRASHOF’S THEOREM Wen-Tung Chang*, Chen-Chou Lin**, and Long-Iong Wu*** Key words: Grashof’s theorem, stationary configuration, uncertainty to formulate the mobility conditions for planar four-bar configuration, planar four-bar linkage. linkages, and provided a graphical interpretation to mobility determination. The concept can be extended to a more complex planar linkage. Barker [3] classified ABSTRACT planar four-bar linkages into four classes of Grashof’s category, four classes of non-Grashof’s category, and In this paper, Grashof’s theorem is justified from the perspective six classes of change point category, based on the of the occurrence of stationary configurations and uncertainty con- figurations of four-link chains. The link length relations at stationary properties of characteristic surfaces in positive octant configurations and uncertainty configurations are examined in detail regions. Cohan and Yang [5] developed a transforma- based on the triangle inequality, and then the conditions for the tion between Euclidean space and “parallel coordinates existence of a crank and a change point are deduced. system”, and analysed the mobility of linkages by the ranges