Title :
A novel discontinuously movable six-revolute mechanism
Author :
Lee, Chung-Ching ; Hervé, Jacques M.
Author_Institution :
Nat. Kaohsiung Univ. of Appl. Sci., Kaohsiung, Taiwan
Abstract :
A novel discontinuously movable mechanism (DMM), namely the (RR)RR(RR) six-bar DMM is proposed to shed light on the discontinuous mobility in special mechanisms via the group-based approach. This mechanism includes two (RR) subchains with adjacent R axes perpendicularly intersecting and one set of three adjacent revolute R pairs with parallel axes. Its discontinuous mobility has a bifurcation towards two distinct working modes with one-dof finite mobility. One mode is a rotation around the common axis of two coaxial revolute pairs and the other mode is a planar motion of a 4R linkage with parallel R axes. The special mobility is explained by using the Lie group algebraic properties of the displacement set. In addition, the same spatial arrangement of the R axes can be linked in a different way such that another chain with a quite different mobility is constituted but its infinitesimal mobility is not altered.
Keywords :
Lie algebras; Lie groups; bifurcation; mobile robots; robot kinematics; 4R linkage; DMM; Lie group algebraic property; bifurcation; discontinuously movable six-revolute mechanism; displacement set; planar motion; robot kinematics; Bifurcation; Coaxial components; Couplings; Delta modulation; Fasteners; H infinity control; Kinematics; Motion analysis; Transmission line matrix methods; Uncertainty; Lie group; bifurcation; discontinuous mobility; displacement set; manifold;
Conference_Titel :
Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on
Conference_Location :
London
Print_ISBN :
978-88-89007-37-2
Electronic_ISBN :
978-1-876346-58-4
