CUED Publications database

Reconfigurable chains of bifurcating type III Bricard linkages

Lu, S and Zlatanov, D and Ding, X and Zoppi, M and Guest, SD (2016) Reconfigurable chains of bifurcating type III Bricard linkages. In: Mechanisms and Machine Science. UNSPECIFIED, pp. 3-14.

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Abstract

© Springer International Publishing Switzerland 2016. This paper presents the construction of a family of reconfigurable mechanisms composed of an unlimited number of doubly collapsible (type III) Bricard linkages. First, the geometries of these overconstrained six-hinge spatial loops are parameterized and their kinematics is investigated. The configurationspace curve is computed; its bifurcation behavior is analyzed and illustrated by projections. It is then shown that type III Bricard linkages can be connected in series in a one-degree-of-freedom chain. Such a multi-loop mechanism has the ability to reconfigure in multiple ways due to the bifurcations of the individual Bricard units. Consequently, the chain has multiple states where all joint axes are coplanar. In each such configuration, the physical links, every one realized as a planar figure, spread out to cover a curving stripe in the plane. Several simulations and case studies are performed.

Item Type: Book Section
Subjects: UNSPECIFIED
Divisions: Div D > Structures
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:27
Last Modified: 03 Aug 2017 03:12
DOI: 10.1007/978-3-319-23327-7_1