Algebraic analysis of a new variable-DOF 7R mechanism

Martin Pfurner*, Xianwen Kong

*Corresponding author for this work

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

17 Citations (Scopus)


A new variable-DOF (degree-of-freedom) single-loop mechanism with seven revolute joints is proposed. The mechanism is constructed as a combination of two Bennett mechanisms and has two distinct 1-DOF 7R modes, where it is able to perform general 1-DOF 7R motion, and one 2-DOF double-Bennett mode, which is composed of two 1-DOF Bennett 4R motions. This paper shows the construction of this mechanism and analyzes all the motion modes and the transition configurations. Through these transition configurations, the mechanism can switch from one 1-DOF 7R mode to the 2-DOF double-Bennett mode and then to the other 1-DOF 7R mode.

Original languageEnglish
Title of host publicationNew Trends in Mechanism and Machine Science
Subtitle of host publicationTheory and Industrial Applications
EditorsPhilippe Wenger, Paulo Flores
PublisherKluwer Academic Publishers
Number of pages9
ISBN (Print)9783319441559
Publication statusPublished - 2017
Event6th International Conference on Mechanism Science and machine Theory 2016 - Nantes, France
Duration: 20 Sept 201623 Oct 2016

Publication series

NameMechanisms and Machine Science
PublisherSpringer International Publishing
ISSN (Print)2211-0984


Conference6th International Conference on Mechanism Science and machine Theory 2016
Abbreviated titleEUCOMES 2016


  • 7R mechanism
  • Algebraic analysis
  • Transition Configurations
  • Variable-DOF

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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