Reconfigurable mechanism generated from the network of Bennett linkages

Chao-Yang Song, Huijuan Feng, Yan Chen, I-Ming Chen, Rongjie Kang

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)
56 Downloads (Pure)


A network of four Bennett linkages is proposed in this paper. Totally five types of overconstrained 5R and 6R linkages, including the generalized Goldberg 5R linkage, generalized variant of the L-shape Goldberg 6R linkage, Waldron's hybrid 6R linkage, isomerized case of the generalized L-shape Goldberg 6R linkage, and generalizedWohlhart's double-Goldberg 6R linkage, can be constructed by modifying this Bennett network. The 8R linkage formed by Bennett network serves as the basic mechanism to realise the reconfiguration among five types of overconstrained linkages by rigidifying some of the eight joints. The work also reveals the in-depth relationship among the Bennett-based linkages,which provides a substantial advancement in the design of reconfigurable mechanisms using overconstrained linkages.
Original languageEnglish
Pages (from-to)49-62
Number of pages14
JournalMechanism and Machine Theory
Early online date3 Mar 2015
Publication statusPublished - 1 Jun 2015
Externally publishedYes


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