A Variable-DOF Single-Loop 7R Spatial Mechanism that Has No 1-DOF 7R Motion Mode

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper is about the motion mode analysis of a novel variable-DOF (or kinematotropic) single-loop 7R spatial mechanism (VDSLRM), which is composed of seven R (revolute) joints. Firstly, a description of the novel VDSLRM is given. A set of kinematic loop equations is then formulated using dual quaternions and the natural exponential function substitution. All the motion modes of the VDSLRM are obtained by solving the set of equations using prime decomposition of ideals. The analysis shows that the VDSLRM has six motion modes, including one 2-DOF double-Bennett 7R mode, one 1-DOF spatial 6R mode, three 2-DOF spatial hybrid 5R modes, and one 1-DOF planar 4R mode. In an nR mode of a VDSLRM, n R joints work while (7-n) R joints lose their DOF. The VDSLRM presented in this paper has 4R, 5R, 6R, and 7R motion modes but lacks a 1-DOF 7R motion mode. It boasts more motion modes than the existing VDSLRMs.
Original languageEnglish
Title of host publicationAdvances in Robot Kinematics 2024
EditorsJadran Lenarčič, Manfred Husty
PublisherSpringer
Pages365–373
Number of pages9
ISBN (Electronic)9783031640575
ISBN (Print)9783031640568
DOIs
Publication statusPublished - 3 Jul 2024
Event19th International Symposium on Advances in Robot Kinematics 2024 - Cankarjev Dom, Ljubljana, Slovenia
Duration: 30 Jun 20244 Jul 2024
https://ark2024.org/

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume31
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

Conference19th International Symposium on Advances in Robot Kinematics 2024
Abbreviated titleARK 2024
Country/TerritorySlovenia
CityLjubljana
Period30/06/244/07/24
Internet address

Keywords

  • Variable degree-of-freedom mechanism
  • Bennett linkage
  • Single-loop reconfigurable mechanism
  • screw theory
  • Computer algebraic geometry
  • Construction method

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint

Dive into the research topics of 'A Variable-DOF Single-Loop 7R Spatial Mechanism that Has No 1-DOF 7R Motion Mode'. Together they form a unique fingerprint.

Cite this