Double Bennett Mechanisms with Assembly Modes of Different Dimensions

Conference paper

Selig, JM and Li, Z (2018). Double Bennett Mechanisms with Assembly Modes of Different Dimensions. 4th International Conference on Reconfigurable Mechanisms and Robots. Delft 20 - 22 Jun 2018 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/REMAR.2018.8449894
AuthorsSelig, JM and Li, Z
TypeConference paper
Abstract

By considering the geometry of the Bennett 3R open-chain linkage it is possible to predict the possible configuration spaces of 6R closed loop mechanisms formed by joining pairs of Bennett linkages. Attention is confined to cases where the configuration space can be described by the intersection of three quadric surfaces in a three-dimensional projective space. There are just five possibilities which contain a component of dimension one. Two of these possibilities correspond to well-known constructions for forming mobile overconstrained 6R mechanisms from Bennett linkages. The geometry shows that these configuration spaces must also contain a number of isolated configurations, a result we believe to be new. Finally we are able to show that one of the other five geometric possibilities cannot occur as the configuration space of a double Bennett mechanism.

Year2018
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Digital Object Identifier (DOI)https://doi.org/10.1109/REMAR.2018.8449894
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Print20 Jun 2018
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Deposited05 Apr 2018
Accepted23 Mar 2018
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© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

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