A Double-Faced 6R Single-Loop Overconstrained Spatial Mechanism

Author:

Kong Xianwen1,He Xiuyun1,Li Duanling2

Affiliation:

1. School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK e-mail:

2. Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China e-mail:

Abstract

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.

Funder

Engineering and Physical Sciences Research Council

National Natural Science Foundation of China

Publisher

ASME International

Subject

Mechanical Engineering

Reference45 articles.

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5. Wohlhart, K., 1987, “A New 6R Space Mechanism,” Seventh World Congress on Theory of Machines and Mechanisms, Seville, Spain, Sept. 17–22, pp. 193–198.

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