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contributor authorGao, Yuan;Yang, Fufu;Zhang, Jun
date accessioned2023-04-06T12:57:20Z
date available2023-04-06T12:57:20Z
date copyright11/25/2022 12:00:00 AM
date issued2022
identifier issn19424302
identifier otherjmr_15_5_054503.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288826
description abstractIn this paper, a new reconfigurable 6R linkage is obtained by combining two identical equilateral Bennett linkages arranged in a planesymmetric manner, and a detailed kinematic analysis is conducted which shows that there are six distinct motion modes and three topological structures of the derived mechanism without changing the types of kinematic joints. Explicit relationships among the kinematic variables are obtained with D–H method and various modes are discussed in detail. Bifurcation points are derived and the reconfigurations are analyzed. The result shows that the mechanism has six motion modes which contain a special case of a planesymmetric 6R mode and a special case of a twofold symmetric 6R mode, an Xshaped motion mode, and two Vshaped motion modes. A physical prototype is fabricated to verify the derivation and it shows that the mechanism can transform among all the motion modes without the need of reassembling.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures
typeJournal Paper
journal volume15
journal issue5
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4056081
journal fristpage54503
journal lastpage5450310
page10
treeJournal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 005
contenttypeFulltext


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