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Robotics 2018, 7(3), 51; https://doi.org/10.3390/robotics7030051

Reconfiguration Analysis of an RRRRS Single-Loop Mechanism

1
Department of Mechanical, Chemical and Materials Engineering, University of Cagliari, Piazza d’Armi, 09123 Cagliari, Italy
2
School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS, UK
*
Author to whom correspondence should be addressed.
Received: 29 June 2018 / Revised: 30 August 2018 / Accepted: 6 September 2018 / Published: 9 September 2018
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Abstract

The paper deals with the reconfiguration analysis of the single-loop variable degree-of-freedom (DOF) RRRRS mechanism composed of five links connected by four revolute (R) joints and one spherical (S) joint. The mechanism may show two modes of motion: one-DOF and two-DOF motion. In the paper, a classical vector procedure is used to obtain the quartic motion equation (QME) that allows one to inspect the nature of the motion. In general, the solutions of the QME provide the one-DOF motion of the mechanism except when all the coefficients of the equation vanish. In this case, the mechanism undergoes the two-DOF motion. The motion of the mechanism built according to two specific architectures was analyzed by the numerical solutions of the QME and with the help of the solid model of the mechanism. It is revealed for the first time that the perpendicular architecture has one 2-DOF motion and two 1-DOF motion modes. View Full-Text
Keywords: reconfiguration analysis; single-loop mechanism; multi-mode mechanism reconfiguration analysis; single-loop mechanism; multi-mode mechanism
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Ruggiu, M.; Kong, X. Reconfiguration Analysis of an RRRRS Single-Loop Mechanism. Robotics 2018, 7, 51.

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