Abstract
This paper presents the construction of a family of reconfigurable mechanisms composed of an unlimited number of doubly collapsible (type III) Bricard linkages. First, the geometries of these overconstrained six-hinge spatial loops are parameterized and their kinematics is investigated. The configuration-space curve is computed; its bifurcation behavior is analyzed and illustrated by projections. It is then shown that type III Bricard linkages can be connected in series in a one-degree-of-freedom chain. Such a multi-loop mechanism has the ability to reconfigure in multiple ways due to the bifurcations of the individual Bricard units. Consequently, the chain has multiple states where all joint axes are coplanar. In each such configuration, the physical links, every one realized as a planar figure, spread out to cover a curving stripe in the plane. Several simulations and case studies are performed.
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Acknowledgement
This research has been supported by the AUTORECON project funded under the Seventh Framework Program of the European Commission (Collaborative Project NMP-FOF-2011-285189), National Natural Science Funds (of China) for Distinguished Young Scholar under Grant 51125020, and the National Natural Science Foundation of China under Grant 51275015. The authors gratefully acknowledge the supporting agencies.
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Lu, S., Zlatanov, D., Ding, X., Zoppi, M., Guest, S.D. (2016). Reconfigurable Chains of Bifurcating Type III Bricard 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_1
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DOI: https://doi.org/10.1007/978-3-319-23327-7_1
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