Algebraic Analysis of a New Variable-DOF 7R Mechanism
Algebraic Analysis of a New Variable-DOF 7R Mechanism
复制标题
新型可变自由度 7R 机构的代数分析
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
X. Kong
中科院分区：
文献类型：
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作者：
M. Pfurner;X. Kong
提出了一种新的七自由度变自由度单回路机构。该机构由两个班尼特机构组合而成，具有两个不同的单自由度7 R模态和一个由两个单自由度班尼特4 R运动组成的双班尼特模态。文中给出了该机构的结构，分析了其各种运动模式和过渡位形。通过这些过渡配置，机构可以从一个1-DOF 7 R模式切换到2-DOF双贝内特模式，然后切换到另一个1-DOF 7 R模式。
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.