contributor author | Gao, Yuan | |
contributor author | Yang, Fufu | |
contributor author | Zhang, Jun | |
date accessioned | 2023-11-29T19:16:45Z | |
date available | 2023-11-29T19:16:45Z | |
date copyright | 11/25/2022 12:00:00 AM | |
date issued | 11/25/2022 12:00:00 AM | |
date issued | 2022-11-25 | |
identifier issn | 1942-4302 | |
identifier other | jmr_15_5_054503.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4294676 | |
description abstract | In this paper, a new reconfigurable 6R linkage is obtained by combining two identical equilateral Bennett linkages arranged in a plane-symmetric 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 plane-symmetric 6R mode and a special case of a two-fold symmetric 6R mode, an X-shaped motion mode, and two V-shaped 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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | A Reconfigurable 6R Linkage With Six Motion Modes and Three Topological Structures | |
type | Journal Paper | |
journal volume | 15 | |
journal issue | 5 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4056081 | |
journal fristpage | 54503-1 | |
journal lastpage | 54503-10 | |
page | 10 | |
tree | Journal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 005 | |
contenttype | Fulltext | |