Workspace analysis of a reconfigurable mechanism generated from the network of Bennett linkages

Huijuan Feng, Rongjie Kang, Yan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Citations (Scopus)
7 Downloads (Pure)

Abstract

In this paper, a workspace triangle is introduced to evaluate the workspace of a reconfigurable mechanism generated from the network of Bennett linkages. Three evaluation indexes of workspace including movement locus of the joint, surface swept by the link and helical tube enveloped by the workspace triangle have been discussed. The comparison between the workspace of the reconfigurable mechanism and the sum of five resultant 5 R /6 R linkages including generalized Goldberg 5 R linkage, generalized variant of the L -shape Goldberg 6 R linkage, Waldron’s hybrid 6 R linkage, isomerized generalized L -shape Goldberg 6 R linkage and generalized Wohlhart’s double-Goldberg 6 R linkage is accomplished by using the evaluation indexes and mapping the workspace to the joint space which is defined by a vector whose components are joint variables.
Original languageEnglish
Title of host publicationAdvances in Reconfigurable Mechanisms and Robots II
Subtitle of host publicationAdvances in Reconfigurable Mechanisms and Robots II
EditorsXilun Ding, Jian S. Dai, Xianwen Kong
Place of PublicationCham
PublisherSpringer
Pages153-163
Number of pages10
ISBN (Electronic)9783319233277
ISBN (Print)9783319233260
DOIs
Publication statusPublished - 2016
Externally publishedYes

Publication series

NameMechanisms and Machine Science
PublisherSpringer
Volume36

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