Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages

Feng, Huijuan, Kang, Rongjie and Chen, Yan (2016) Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages. In: Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science (36). Springer, Cham, pp. 153-163. ISBN 9783319233260, 9783319233277

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Remar2015_Workspace_Analysis_of_a_Reconfigurable_Mechanism_Generated_from_the_Network_of_Bennett_linkages.pdf - Accepted Version

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Official URL: https://doi.org/10.1007/978-3-319-23327-7_14

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.

Item Type: Book Section
Uncontrolled Keywords: Reconfiguration, Workspace triangle, Workspace, Joint space
Subjects: H300 Mechanical Engineering
Department: Faculties > Engineering and Environment > Mechanical and Construction Engineering
Depositing User: Elena Carlaw
Date Deposited: 30 Jul 2020 15:35
Last Modified: 30 Jul 2020 15:45
URI: http://nrl.northumbria.ac.uk/id/eprint/43934

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