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.
|Title of host publication||Advances in Reconfigurable Mechanisms and Robots II|
|Subtitle of host publication||Advances in Reconfigurable Mechanisms and Robots II|
|Editors||Xilun Ding, Jian S. Dai, Xianwen Kong|
|Place of Publication||Cham|
|Number of pages||10|
|Publication status||Published - 2016|
|Name||Mechanisms and Machine Science|