Journal
MECHANISM AND MACHINE THEORY
Volume 39, Issue 11, Pages 1175-1187Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2004.06.003
Keywords
over-constrain; screw theory; type synthesis
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In this paper, a new method for structure synthesis of a class of overconstrained mechanisms is presented. First, joint screw systems that are reciprocal to several prescribed constraint-wrench systems are developed. Then, geometric conditions that lead to finite motion of overconstrained mechanisms are identified. Finally, overconstrained mechanisms, the motion space of which is constrained by one to three zero- or infinite-pitch wrenches, are enumerated. (C) 2004 Elsevier Ltd. All rights reserved.
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