Variable Degree-of-Freedom Spatial Mechanisms Composed of Four Circular Translation Joints

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

Abstract

This paper deals with the construction and reconfiguration analysis of a spatial mechanism composed of four circular translation (G) joints. Two links connected by a G joint, which can be in different forms such as a planar parallelogram, translate along a circular trajectory with respect to each other. A spatial 4G mechanism, which is composed of four G joints, usually has 1-DOF (degree-of-freedom). Firstly, a 2-DOF 4G mechanism is constructed. Then a novel variable-DOF spatial 4G mechanism is constructed starting from the 2-DOF 4G mechanism using the approach based on screw theory. Finally, the reconfiguration analysis is carried out in the configuration space using dual quaternions. The analysis shows that the variable-DOF spatial 4G mechanism has one 2-DOF motion mode and one to two 1-DOF motion modes and reveals how the 4G mechanism can switch among these motion modes. By removing one link from two adjacent G joints each and two links from each of the remaining two G joints, we can obtain a queer-rectangle and a queer-parallelogram, which are the generalization of the queer-square or derivative queer-square in the literature. The approach in this paper can be extended to the analysis of other types of coupled mechanisms using cables and gears and multi-mode spatial mechanisms involving G joints.
Original languageEnglish
Title of host publication44th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791883990
DOIs
Publication statusPublished - 3 Nov 2020
Event44th Mechanisms and Robotics Conference 2020 - St. Louis, United States
Duration: 16 Aug 202019 Sep 2020

Publication series

NameASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Volume10

Conference

Conference44th Mechanisms and Robotics Conference 2020
CountryUnited States
CitySt. Louis
Period16/08/2019/09/20

Keywords

  • Algebraic geometry
  • Circular translation joint
  • Dual quaternions
  • Reconfiguration analysis
  • Variable-DOF mechanism

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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