Type synthesis of deployable single-loop overconstrained linkages based on Bennett linkages

Type synthesis of 2R2T parallel mechanisms based on motion equivalent chain method

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406214527271 ◽

2014 ◽

Vol 228 (17) ◽

pp. 3209-3217 ◽

Cited By ~ 8

Author(s):

Wei Ye ◽

Yuefa Fang ◽

Sheng Guo ◽

Haibo Qu

Keyword(s):

Parallel Mechanism ◽

Screw Theory ◽

Parallel Mechanisms ◽

Motion Pattern ◽

Type Synthesis ◽

Constraint Force ◽

Single Loop ◽

Loop Chain ◽

Serial Chains

In this paper, the motion equivalent chain method is proposed and then applied to the type synthesis of a class of 2R2T parallel mechanism. The equivalent serial chains are synthesized for a specific 2R2T motion pattern based on screw theory. Feasible limb structures that provide a constraint couple and a constraint force are enumerated according to the reciprocity of the twist and wrench systems. Several motion equivalent single loop chains are constructed with the equivalent serial chains. Using motion equivalent single loop chains to replace the equivalent serial chains, a class of 2R2T parallel mechanisms is obtained based on the foundation of motion equivalent single loop chain structures.

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Type synthesis of single-loop deployable mechanisms based on improved atlas method for single-DOF grasping manipulators

Mechanism and Machine Theory ◽

10.1016/j.mechmachtheory.2021.104656 ◽

2022 ◽

Vol 169 ◽

pp. 104656

Author(s):

Yang Zhang ◽

Hailin Huang ◽

Tao Mei ◽

Bing Li

Keyword(s):

Type Synthesis ◽

Single Loop ◽

Atlas Method

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A New Approach for the Orders of the Bennett-Based Linkages in Mobility Analysis

Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2009-86243 ◽

2009 ◽

Author(s):

Jingfang Liu ◽

Zhen Huang ◽

Yanwen Li

Keyword(s):

Superposition Principle ◽

Mobility Analysis ◽

Linear Superposition ◽

Geometric Properties ◽

New Approach ◽

Single Loop ◽

Linear Superposition Principle ◽

Overconstrained Linkages

Among the 3D single-loop overconstrained linkages, quite a number of them are combinations of Bennett linkages. Mobility on the overconstrained linkages including the Bennett-based linkages is known to be one of the difficult topics in kinematics. In the paper, a new approach based on the linear superposition principle for determining the orders of Bennett-based linkages is proposed, and the mobility of some typical Bennett-based linkages is calculated with the Modified Gru¨bler-Kutzbach criterion. In addition, geometric properties of some of the screw systems are employed to identify whether the mobility is global.

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ON THE SIMPLE STATIONARY CONFIGURATIONS OF SINGLE-LOOP SPATIAL N-REVOLUTE OVERCONSTRAINED LINKAGES

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-1996-0002 ◽

1996 ◽

Vol 20 (1) ◽

pp. 17-39 ◽

Cited By ~ 2

Author(s):

Chung-Ching Lee

Keyword(s):

Computer Graphics ◽

Differential Equations ◽

Range Of Motion ◽

Closed Form ◽

Single Loop ◽

Closed Form Solutions ◽

Systematic Formulation ◽

Overconstrained Linkages

Based on the derived matrix and its differential equations, a systematic formulation is presented to either identify the simple stationary configurations of movable spatial 4R, 5R and 6R overconstrained linkages or prove none of them occurs at all. Some examples are given to confirm the correctness and validity of the derived mathematical criterion. In addition, the closed-form solutions of linkage joint variables are well-established and with the help of computer graphics, geometrical meanings of linkage configurations are described. This approach can be used to provide a foundation for understanding the range of motion in overconstrained linkage application.

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