Reconfigurable and deployable platonic mechanisms with a variable revolute joint

Wei, G; Dai, JS

Abstract

This chapter presents for the first time a variable revolute joint and a group of reconfigurable and deployable Platonic mechanisms. Structure of the variable revolute joint is presented and demonstrated by its application to the construction of a reconfigurable generic 4R linkage which is capable of converting itself to a planar parallelogram 4R linkage, a spherical 4R linkage and a Bennett linkage. Then, with a two-phase variable revolute joint, a group of reconfigurable and deployable Platonic mechanisms are constructed and mobility of the proposed reconfigurable Platonic mechanisms is investigated by formulating their corresponding constraint matrices. Finally, kinematic characteristics of the proposed mechanisms are illustrated.

Citation

Wei, G., & Dai, J. (2014). Reconfigurable and deployable platonic mechanisms with a variable revolute joint. In J. Lenarčič, & O. Khatib (Eds.), Advances in Robot Kinematics (485-495). Springer. https://doi.org/10.1007/978-3-319-06698-1_50

• Publication Date: Jan 1, 2014
• Deposit Date: May 29, 2015
• Publisher: Springer
• Pages: 485-495
• Book Title: Advances in Robot Kinematics
• ISBN: 9783319066974
• DOI: https://doi.org/10.1007/978-3-319-06698-1_50
• Publisher URL: http://dx.doi.org/10.1007/978-3-319-06698-1_50
• Additional Information: Funders : EU 7th Framework Programme TOMSY;National Natural Science Foundation of China; Grant Number: 270436; Grant Number: 51175366