Abstract
In this paper, the explicit solutions to closure equations of the plane-symmetric Bricard linkage are derived and a thorough kinematic study of the general plane-symmetric Bricard linkage is conducted with DH matrix method. The derived 5 R /4 R linkages from this Bricard linkage are introduced. Various bifurcation cases of the plane-symmetric Bricard linkage with different geometric conditions are discussed, which include the bifurcation between two plane-symmetric Bricard linkage motion branches and the bifurcation among equiv- alent serial kinematic chains with revolute joints and a four-bar double-rocker linkage. Especially the plane-symmetric Bricard linkage that can bifurcate to the Bennett linkage is proposed for the first time. These findings not only offer an in-depth understanding about the kinematics of the general plane-symmetric Bricard linkage, but also bridge two over- constrained linkage groups, i.e., the Bennett-based linkages and Bricard-related ones, to reveal their intrinsic relationship.
Original language | English |
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Pages (from-to) | 89-104 |
Number of pages | 16 |
Journal | Mechanism and Machine Theory |
Volume | 116 |
Early online date | 24 May 2017 |
DOIs | |
Publication status | Published - 1 Oct 2017 |
Externally published | Yes |
Keywords
- Bifurcation
- Closure equations
- Explicit solution
- The plane-symmetric Bricard linkage
- Kinematics