Reconfigurable and deployable platonic mechanisms with a variable revolute joint
Wei, G and Dai, JS 2014, 'Reconfigurable and deployable platonic mechanisms with a variable revolute joint' , in: Advances in Robot Kinematics , Springer, pp. 485-495.
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This chapter presents for the first time a variable revolute joint and a group of reconfigurable and deployable Platonic mechanisms. Structure of the variable revolute joint is presented and demonstrated by its application to the construction of a reconfigurable generic 4R linkage which is capable of converting itself to a planar parallelogram 4R linkage, a spherical 4R linkage and a Bennett linkage. Then, with a two-phase variable revolute joint, a group of reconfigurable and deployable Platonic mechanisms are constructed and mobility of the proposed reconfigurable Platonic mechanisms is investigated by formulating their corresponding constraint matrices. Finally, kinematic characteristics of the proposed mechanisms are illustrated.
|Item Type:||Book Section|
|Editors:||Lenarčič, J and Khatib, O|
|Themes:||Subjects outside of the University Themes|
|Schools:||Schools > School of Computing, Science and Engineering|
|Funders:||EU 7th Framework Programme TOMSY, National Natural Science Foundation of China|
|Depositing User:||Dr Guowu Wei|
|Date Deposited:||29 May 2015 17:54|
|Last Modified:||05 Apr 2016 19:27|
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