Geometric construction and kinematic analysis of a 6R single-loop overconstrained spatial mechanism that has three pairs of revolute joints with intersecting joint axes

Xianwen Kong

doi:10.1016/j.mechmachtheory.2016.04.002

Geometric construction and kinematic analysis of a 6R single-loop overconstrained spatial mechanism that has three pairs of revolute joints with intersecting joint axes

Xianwen Kong

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Abstract

This paper deals with the geometric construction and kinematic analysis of a single degree-of-freedom 6R overconstrained spatial mechanism (6R mechanism for short) that has three pairs of revolute (R) joints with intersecting joint axes. How to construct a 6R with three pairs of R joints with intersecting joint axes is presented first. The kinematic analysis of the 6R mechanism is then discussed. The analysis shows that the 6R usually has two solutions to the kinematic analysis for a given input. In two configurations in each circuit of the 6R mechanism, the axes of four R joints are coplanar, and the axes of the other two R joints are perpendicular to the plane defined by the above four R joints.

Original language	English
Pages (from-to)	196-202
Journal	Mechanism and Machine Theory
Volume	102
Early online date	23 Apr 2016
DOIs	https://doi.org/10.1016/j.mechmachtheory.2016.04.002
Publication status	Published - Aug 2016

Keywords

Overconstrained mechanism
6R Mechanism
Kinematic analysis
Geometric construction approach

ASJC Scopus subject areas

Mechanical Engineering

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10.1016/j.mechmachtheory.2016.04.002Licence: CC BY

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© 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
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title = "Geometric construction and kinematic analysis of a 6R single-loop overconstrained spatial mechanism that has three pairs of revolute joints with intersecting joint axes",

abstract = "This paper deals with the geometric construction and kinematic analysis of a single degree-of-freedom 6R overconstrained spatial mechanism (6R mechanism for short) that has three pairs of revolute (R) joints with intersecting joint axes. How to construct a 6R with three pairs of R joints with intersecting joint axes is presented first. The kinematic analysis of the 6R mechanism is then discussed. The analysis shows that the 6R usually has two solutions to the kinematic analysis for a given input. In two configurations in each circuit of the 6R mechanism, the axes of four R joints are coplanar, and the axes of the other two R joints are perpendicular to the plane defined by the above four R joints.",

keywords = "Overconstrained mechanism, 6R Mechanism, Kinematic analysis, Geometric construction approach",

author = "Xianwen Kong",

note = "{"}Open Access funded by Engineering and Physical Sciences Research Council{"}",

year = "2016",

month = aug,

doi = "10.1016/j.mechmachtheory.2016.04.002",

language = "English",

volume = "102",

pages = "196--202",

journal = "Mechanism and Machine Theory",

issn = "0094-114X",

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T1 - Geometric construction and kinematic analysis of a 6R single-loop overconstrained spatial mechanism that has three pairs of revolute joints with intersecting joint axes

AU - Kong, Xianwen

N1 - "Open Access funded by Engineering and Physical Sciences Research Council"

PY - 2016/8

Y1 - 2016/8

N2 - This paper deals with the geometric construction and kinematic analysis of a single degree-of-freedom 6R overconstrained spatial mechanism (6R mechanism for short) that has three pairs of revolute (R) joints with intersecting joint axes. How to construct a 6R with three pairs of R joints with intersecting joint axes is presented first. The kinematic analysis of the 6R mechanism is then discussed. The analysis shows that the 6R usually has two solutions to the kinematic analysis for a given input. In two configurations in each circuit of the 6R mechanism, the axes of four R joints are coplanar, and the axes of the other two R joints are perpendicular to the plane defined by the above four R joints.

AB - This paper deals with the geometric construction and kinematic analysis of a single degree-of-freedom 6R overconstrained spatial mechanism (6R mechanism for short) that has three pairs of revolute (R) joints with intersecting joint axes. How to construct a 6R with three pairs of R joints with intersecting joint axes is presented first. The kinematic analysis of the 6R mechanism is then discussed. The analysis shows that the 6R usually has two solutions to the kinematic analysis for a given input. In two configurations in each circuit of the 6R mechanism, the axes of four R joints are coplanar, and the axes of the other two R joints are perpendicular to the plane defined by the above four R joints.

KW - Overconstrained mechanism

KW - 6R Mechanism

KW - Kinematic analysis

KW - Geometric construction approach

U2 - 10.1016/j.mechmachtheory.2016.04.002

DO - 10.1016/j.mechmachtheory.2016.04.002

M3 - Article

SN - 0094-114X

VL - 102

SP - 196

EP - 202

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

ER -

Geometric construction and kinematic analysis of a 6R single-loop overconstrained spatial mechanism that has three pairs of revolute joints with intersecting joint axes

Abstract

Keywords

ASJC Scopus subject areas

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