Stability of branches of a kinematotropic mechanism

This work discusses some motion properties of a closed loop kinematotropic mechanism. In an ideal assembly, in which the mechanism links have perfect dimensions, two branches of positions, with 2 and 3 degrees of freedom respectively, exist. When bodies are affected by construction errors, only flexibilities or clearances can ensure that the kinematotropic property is still realizable. In the paper, the stability of the equilibrium in the two branches of positions is discussed, in case axial flexibility of a joint is used to compensate for errors. It is also shown that the passage from one branch to the other is possible and that the required deformation energy has to be provided by external forces, applied to the driving joints of the mechanism.