The Klann mechanism: kinematic analysis and force balancing

This paper reports the kinematic analysis and balancing conditions of the Klann mechanism. The simplicity of the topology of the linkage allows us to obtain closure equations for the position analysis that lead to closed-form solutions. The position analysis shows that we have a maximum of four configurations of the mechanism upon the orientation of the driving link. Next, the velocity and acceleration analyses are addressed by resorting to the theory of screws. In this sense, the singularity analysis derived from the velocity analysis justifies the geometry of two bars of the mechanism. Finally, the balancing conditions of the Klann mechanism are obtained by vanishing the total linear momentum vector and thus cancelling the shaking forces generated by the moving links on the base link.