This paper presents the Bennett plano-spherical hybrid linkage and proposes a novel metamorphic parallel mechanism consisting of this plano-spherical linkage as part of limbs. In light of geometrical modeling of the Bennett plano-spherical linkage, and with the investigation of the motion-screw system, the paper reveals for the first time the reconfigurability property of this plano-spherical linkage and identifies the design parameters that lead to change of constraint equations, and subsequently to variation of the order of the motion-screw system. Arranging this linkage as part of limbs, the paper further investigates the reconfiguration property of the plano-spherical linkage evolved parallel mechanism. The analysis reveals that the platform constraint-screw system varies following both bifurcation and trifurcation with motion branch variation in the 6R linkage integrated limb structure. Consequently, this variation of the platform constraint-screw system leads to reconfiguration of the proposed metamorphic parallel mechanism. The paper presents a way of analyzing reconfigurability of kinematic structures based on the screw-system approach.
Skip Nav Destination
Article navigation
June 2015
Research-Article
Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism
Ketao Zhang,
Ketao Zhang
Centre for Robotics Research,
Faculty of Natural and Mathematical Sciences,
King's College London,
e-mail: ketao.zhang@kcl.ac.uk
Faculty of Natural and Mathematical Sciences,
King's College London,
University of London
,Strand, London WC2R 2LS
, UK
e-mail: ketao.zhang@kcl.ac.uk
Search for other works by this author on:
Jian S. Dai
Jian S. Dai
Centre for Robotics Research,
Faculty of Natural and Mathematical Sciences,
King's College London,
e-mail: jian.dai@kcl.ac.uk
Faculty of Natural and Mathematical Sciences,
King's College London,
University of London
,Strand, London WC2R 2LS
, UK
e-mail: jian.dai@kcl.ac.uk
Search for other works by this author on:
Ketao Zhang
Centre for Robotics Research,
Faculty of Natural and Mathematical Sciences,
King's College London,
e-mail: ketao.zhang@kcl.ac.uk
Faculty of Natural and Mathematical Sciences,
King's College London,
University of London
,Strand, London WC2R 2LS
, UK
e-mail: ketao.zhang@kcl.ac.uk
Jian S. Dai
Centre for Robotics Research,
Faculty of Natural and Mathematical Sciences,
King's College London,
e-mail: jian.dai@kcl.ac.uk
Faculty of Natural and Mathematical Sciences,
King's College London,
University of London
,Strand, London WC2R 2LS
, UK
e-mail: jian.dai@kcl.ac.uk
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received September 9, 2014; final manuscript received March 6, 2015; published online April 15, 2015. Assoc. Editor: Oscar Altuzarra.
J. Mech. Des. Jun 2015, 137(6): 062303 (10 pages)
Published Online: June 1, 2015
Article history
Received:
September 9, 2014
Revision Received:
March 6, 2015
Online:
April 15, 2015
Citation
Zhang, K., and Dai, J. S. (June 1, 2015). "Screw-System-Variation Enabled Reconfiguration of the Bennett Plano-Spherical Hybrid Linkage and Its Evolved Parallel Mechanism." ASME. J. Mech. Des. June 2015; 137(6): 062303. https://doi.org/10.1115/1.4030015
Download citation file:
Get Email Alerts
DeepJEB: 3D Deep Learning-Based Synthetic Jet Engine Bracket Dataset
J. Mech. Des (April 2025)
Design and Justice: A Scoping Review in Engineering Design
J. Mech. Des (May 2025)
Related Articles
Structure Synthesis of 3-DOF Translational Parallel Mechanisms With Configurable Platform of Translation
J. Mech. Des (September,2024)
An Analytic and Computational Condition for the Finite Degree-of-Freedom of Linkages, and Its Relation to Lie Group Methods
J. Mechanisms Robotics (August,2022)
A Novel Modular Approach for Kinematic Modeling and Analysis of Planar Hybrid Manipulators
J. Mech. Des (September,2021)
Novel Fault-Tolerance Indices for Redundantly Actuated Parallel Robots
J. Mech. Des (April,2017)
Related Proceedings Papers
Related Chapters
Infinitesimal Mechanics of the PKMs
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Fatigue Analysis in the Connecting Rod of MF285 Tractor by Finite Element Method
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Study on Screw Drill Wear When Drilling Low Carbon Stainless Steel and Accompanying Phenomena in the Cutting Zone
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)