The method of intersection of surfaces generated by kinematic dyads is applied to obtain mechanisms that are able to shift from one mode of motion to another. Then a mobility analysis shows that the singularities of the generated surfaces can be used to obtain mechanisms which can change their number of degrees-of-freedom depending on its configuration. The generator dyads are connected as usually done by a spherical pair. However, in the cases shown in this contribution the three-degrees-of-freedom of the spherical pair are not all necessary to keep the kinematic chain closed and movable, and the spherical pair can be substituted by either a pair of intersecting revolute joints or a single revolute joint. This substitution can be obtained by means of two methods presented in this contribution.
Reconfigurable Mechanisms From the Intersection of Surfaces
Manuscript received June 2, 2015; final manuscript received November 6, 2015; published online March 2, 2016. Assoc. Editor: David Dooner.
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López-Custodio, P. C., Rico, J. M., Cervantes-Sánchez, J. J., and Pérez-Soto, G. I. (March 2, 2016). "Reconfigurable Mechanisms From the Intersection of Surfaces." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021029. https://doi.org/10.1115/1.4032097
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