Abstract
In this paper, a workspace triangle is introduced to evaluate the workspace of a reconfigurable mechanism generated from the network of Bennett linkages. Three evaluation indexes of workspace including movement locus of the joint, surface swept by the link and helical tube enveloped by the workspace triangle have been discussed. The comparison between the workspace of the reconfigurable mechanism and the sum of five resultant 5 R /6 R linkages including generalized Goldberg 5 R linkage, generalized variant of the L -shape Goldberg 6 R linkage, Waldron’s hybrid 6 R linkage, isomerized generalized L -shape Goldberg 6 R linkage and generalized Wohlhart’s double-Goldberg 6 R linkage is accomplished by using the evaluation indexes and mapping the workspace to the joint space which is defined by a vector whose components are joint variables.
The erratum of this chapter can be found under DOI 10.1007/978-3-319-23327-7_94
An erratum to this chapter can be found at http://dx.doi.org/10.1007/978-3-319-23327-7_94
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Acknowledgments
The authors would like to acknowledge the support of the National Natural Science Foundation of China under grant codes of 51275334 and 51290293 and of Tianjin Municipal Science and Technology Department Program under grant codes of 13JCZDJC26400 and 14JCYBJC19300. The first author would like to acknowledge the support of Tianjin University for providing the University Graduate Scholarship.
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Fen, H., Kang, R., Chen, Y. (2016). Workspace Analysis of a Reconfigurable Mechanism Generated from the Network of Bennett Linkages. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_14
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