Next Article in Journal
Locomotion of a Cylindrical Rolling Robot with a Shape Changing Outer Surface
Previous Article in Journal
She’s Electric—The Influence of Body Proportions on Perceived Gender of Robots across Cultures
Article Menu
Issue 3 (September) cover image

Export Article

Open AccessArticle
Robotics 2018, 7(3), 51;

Reconfiguration Analysis of an RRRRS Single-Loop Mechanism

Department of Mechanical, Chemical and Materials Engineering, University of Cagliari, Piazza d’Armi, 09123 Cagliari, Italy
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
Full-Text   |   PDF [1129 KB, uploaded 10 September 2018]   |  


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

Figure 1

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).

Share & Cite This Article

MDPI and ACS Style

Ruggiu, M.; Kong, X. Reconfiguration Analysis of an RRRRS Single-Loop Mechanism. Robotics 2018, 7, 51.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top