Journal
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
Volume 230, Issue 3, Pages 473-482Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0954406215584396
Keywords
6R overconstrained linkage; parametric constraints; bifurcation; trifurcation
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Funding
- European Commission [610532]
- National Natural Science Foundation of China [51205016, 51175366]
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This study presents a double-spherical 6R overconstrained linkage which is a variant of the Sarrus linkage and investigates its constraint-induced bifurcation and trifurcation. In light of the unique geometry of the double-spherical 6R linkage, which is also a typical plane-symmetric Bricard 6R loop, its parametric constraints are explored. Based on constraint analysis in screw system theory, both design and motion parameters that lead to constraint singularities are revealed and the transitory positions for bifurcation and trifurcation are identified among geometric constraints induced singular positions. The analysis reveals that the presented 6R overconstrained linkage is able to reconfigure its configurations by passing transitory positions and to evolve to distinct motion branches including spherical 4R linkages and serial kinematic chains.
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