This paper presents the Bennett plano-spherical hybrid linkage and proposes a novel metamorphic parallel mechanism consisting of this plano-spherical linkage as part of limbs. In light of geometrical modeling of the Bennett plano-spherical linkage, and with the investigation of the motion-screw system, the paper reveals for the first time the reconfigurability property of this plano-spherical linkage and identifies the design parameters that lead to change of constraint equations, and subsequently to variation of the order of the motion-screw system. Arranging this linkage as part of limbs, the paper further investigates the reconfiguration property of the plano-spherical linkage evolved parallel mechanism. The analysis reveals that the platform constraint-screw system varies following both bifurcation and trifurcation with motion branch variation in the 6R linkage integrated limb structure. Consequently, this variation of the platform constraint-screw system leads to reconfiguration of the proposed metamorphic parallel mechanism. The paper presents a way of analyzing reconfigurability of kinematic structures based on the screw-system approach.
Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received September 9, 2014; final manuscript received March 6, 2015; published online April 15, 2015. Assoc. Editor: Oscar Altuzarra.
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Zhang, K., and Dai, J. S. (June 1, 2015). "Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism." ASME. J. Mech. Des. June 2015; 137(6): 062303. https://doi.org/10.1115/1.4030015
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