Abstract
Based on the original Koenigs joint, we present a novel discontinuously movable (DM) RC-//-RC parallel mechanism having a bifurcation of motion. At a singular posture of bifurcation, the end effector has locally two degrees of freedom of infinitesimal translation and two working modes happen at the positions of double points on intersections of two congruent revolute cylinders, which are generated by the two RC open sub-chains. In the mode I, two axes of rotations are transmitted by the ratio of minus one and two shafts rotate in an opposite direction. In the model II, angular velocity ratio between two intersecting shafts is positive one and two cranks rotate in the same direction. Moreover, the same type of phenomenon occurs when two RC open chains are displaced by an offset of translation. Last but not least, a further investigation on a general DM chain of RC-//-RC or HC-//-HC type is expected.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bricard R, de Cinématique L (1927) Tome II. Gauthier-Villars, Pairs, pp 203–204
Hervé JM (1986) Le joint de Koenigs, ses variantes, son application possible en robotique. Entrainements et systemes 19(6):4–6
Lee, C-C, Hervé, JM (2009) “Synthesize oldham-style constant-velocity shaft couplings via Schoenflies displacement group.” Proc. JSME Intl Conf Motion Power Transm, Sendai, 13–15 May 2009, pp 584–589
Lee C-C, Hervé JM (2009) Uncoupled actuation of overconstrained 3T-1R hybrid parallel manipulators. Robotica 27(1):103–117
Wohlhart K (1996) Kinematotropic linkages. Recent advances in robot kinematics. Kluwer, Dordrecht, pp 359–368
Lee, C-C, Hervé, JM (2005) Discontinuously movable seven-link mechanisms via group-algebraic approach. Proc. IMechE, Vol.219, Part C: J. Mechanical Engineering Science, No.6, 2005, pp 577–587
Hervé JM (1978) Analyse structurelle des mécanismes par groupe des déplacements. Mech Mach Theory 13(4):437–450
Nicaise M (1931) Les mouvements mécaniques. Librairie Polytechnique CH. Béranger, Paris
Acknowledgments
The authors are very thankful to the National Science Council for supporting this research under grants NSC 99-2221-E-151-016 and NSC 100-2221-E-151-022.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag London
About this paper
Cite this paper
Lee, CC., Hervé, J.M. (2012). A Discontinuously Movable Constant Velocity Shaft Coupling of Koenigs Joint Type. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London. https://doi.org/10.1007/978-1-4471-4141-9_4
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4141-9_4
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4140-2
Online ISBN: 978-1-4471-4141-9
eBook Packages: EngineeringEngineering (R0)