This paper deals with a 6R single-loop overconstrained spatial mechanism that has two pairs of revolute joints with intersecting axes and one pair of revolute joints with parallel axes. The 6R mechanism is first constructed from an isosceles triangle and a pair of identical circles. The kinematic analysis of the 6R mechanism is then dealt with using a dual quaternion approach. The analysis shows that the 6R mechanism usually has two solutions to the kinematic analysis for a given input and may have two circuits (closure modes or branches) with one or two pairs of full-turn revolute joints. In two configurations in each circuit of the 6R mechanism, the axes of four revolute joints are coplanar, and the axes of the other two revolute joints are perpendicular to the plane defined by the above four revolute joints. Considering that from one configuration of the 6R mechanism, one can obtain another configuration of the mechanism by simply renumbering the joints, the concept of two-faced mechanism is introduced. The formulas for the analysis of plane symmetric spatial triangle are also presented in this paper. These formulas will be useful for the design and analysis of multiloop overconstrained mechanisms involving plane symmetric spatial RRR triads.
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June 2018
Research-Article
A Double-Faced 6R Single-Loop Overconstrained Spatial Mechanism
Xianwen Kong,
Xianwen Kong
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
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Xiuyun He,
Xiuyun He
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: xiuyunhe@gmail.com
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: xiuyunhe@gmail.com
Search for other works by this author on:
Duanling Li
Duanling Li
Automation School,
Beijing University of Posts
and Telecommunications,
Beijing 100876, China
e-mail: liduanling@163.com
Beijing University of Posts
and Telecommunications,
Beijing 100876, China
e-mail: liduanling@163.com
Search for other works by this author on:
Xianwen Kong
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk
Xiuyun He
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: xiuyunhe@gmail.com
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: xiuyunhe@gmail.com
Duanling Li
Automation School,
Beijing University of Posts
and Telecommunications,
Beijing 100876, China
e-mail: liduanling@163.com
Beijing University of Posts
and Telecommunications,
Beijing 100876, China
e-mail: liduanling@163.com
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 1, 2017; final manuscript received December 23, 2017; published online April 5, 2018. Assoc. Editor: Raffaele Di Gregorio.
J. Mechanisms Robotics. Jun 2018, 10(3): 031013 (10 pages)
Published Online: April 5, 2018
Article history
Received:
October 1, 2017
Revised:
December 23, 2017
Citation
Kong, X., He, X., and Li, D. (April 5, 2018). "A Double-Faced 6R Single-Loop Overconstrained Spatial Mechanism." ASME. J. Mechanisms Robotics. June 2018; 10(3): 031013. https://doi.org/10.1115/1.4039224
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