Abstract
This paper presents the Bennett plano-spherical hybrid linkage and proposes a novel metamorphic parallel mechanism consisting of this plano-spherical linkage as part of limbs. In light of geometrical modeling of the Bennett plano-spherical linkage, and with the investigation of the motion-screw system, the paper reveals for the first time the reconfigurability property of this plano-spherical linkage and identifies the design parameters that lead to change of constraint equations, and subsequently to variation of the order of the motion-screw system. Arranging this linkage as part of limbs, the paper further investigates the reconfiguration property of the plano-spherical linkage evolved parallel mechanism. The analysis reveals that the platform constraint-screw system varies following both bifurcation and trifurcation with motion branch variation in the 6R linkage integrated limb structure. Consequently, this variation of the platform constraint-screw system leads to reconfiguration of the proposed metamorphic parallel mechanism. The paper presents a way of analyzing reconfigurability of kinematic structures based on the screw-system approach.
Original language | English |
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Article number | 062303 |
Number of pages | 10 |
Journal | Journal of Mechanical Design |
Volume | 137 |
Issue number | 6 |
DOIs | |
Publication status | Published - 1 Jun 2015 |
Keywords
- Bennett plano-spherical hybrid linkage
- constraint analysis
- constraint-screw system
- motion-screw system
- overconstrained 6R linkage
- reconfiguration