Journal
MECHANISM AND MACHINE THEORY
Volume 150, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.103867
Keywords
Metamorphic mechanism; Bifurcation; Motion ruled surface; Closed-loop equation
Categories
Funding
- Agency for Science, Technology and Research, Singapore, under the National Robotics Program
- A* star SERC [19225 0 0054]
- FRC Tier 1 Grant
- WBS [R397-000-302-114]
- National University of Singapore
- National Natural Science Foundation of China [51535008, 51721003]
- Engineering and Physical Sciences Research Council of UK [EP/P026087/1, EP/S019790/1]
- EPSRC [EP/S019790/1, EP/P026087/1] Funding Source: UKRI
Ask authors/readers for more resources
This paper presents a novel 7R metamorphic mechanism induced by Schatz linkage. The mechanism can realize the reconfigurable switch between two assembly configurations of Schatz linkage without disassembly and reassembly. The mechanism has four different motion branches and twelve bifurcation points. Two of these motion branches are two assembly configurations of Schatz linkage, and the others are two different single degree-offreedom spatial 7R mechanisms. Bifurcation variations of the mechanism are presented by the configuration space, which is obtained by using the numerical approach of closed-loop equations. Then, twelve bifurcation points are identified by first- and second-order constraint equations. Moreover, motion ruled surfaces of the coupler link are generated, which proves that the mechanism has four motion branches and can switch from one assembly configuration of Schatz linkage to the other assembly configuration through another two motion branches. (c) 2020ElsevierLtd. Allrightsreserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available