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A Novel Reconfigurable 7R Linkage with Multifurcation

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Book cover Advances in Reconfigurable Mechanisms and Robots II

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 36))

Abstract

This paper investigates constraint singularity induced multifurcation of a novel 7R (R for revolute joint) linkage. Kinematic structure of the 7R linkage is described first for the purpose of geometric analysis. According to geometric properties of the kinematic structure, D-H parameters and kinematics equations in dual quaternion are derived subsequently. The study further explores analytical form of mechanism constraint-screw systems corresponding to distinct motion branches reconfigured from the 7R linkage based on reciprocity in screw theory. The constraint analysis reveals inherent properties of motion branch changes induced by constraints variation and geometric restriction of joints in these motion branches. This leads to identification of multifurcation of the reconfigurable 7R linkage, meaning motion-branch transitions between the non-overconstrained 7R linkage and overconstrained 6R and 4R mechanisms.

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Acknowledgments

The authors thank the European Commission for the support in the human-robot interaction project SQUIRREL in the name of Clearing Clutter Bit by Bit under Grant No. 610532 and the support of the National Natural Science Foundation of China under Grant No. 51205016.

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Authors and Affiliations

  1. King’s College London, Strand, London, UK

    Ketao Zhang & Jian S. Dai

  2. Johannes Kepler University, Linz, Austria

    Andreas Müller

Authors
  1. Ketao Zhang
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  2. Andreas Müller
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  3. Jian S. Dai
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Corresponding author

Correspondence to Ketao Zhang .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Xilun Ding

  2. Heriot-Watt University, Edinburgh, United Kingdom

    Xianwen Kong

  3. Kings College London, Strand, LONDON WC2R 2LS, United Kingdom

    Jian S. Dai

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© 2016 Springer International Publishing Switzerland

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Zhang, K., Müller, A., Dai, J.S. (2016). A Novel Reconfigurable 7R Linkage with Multifurcation. 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_2

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  • DOI: https://doi.org/10.1007/978-3-319-23327-7_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23326-0

  • Online ISBN: 978-3-319-23327-7

  • eBook Packages: EngineeringEngineering (R0)

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