Title: Bennett motion analysis based on specific regulus

Authors: Haibo Qu; Yuefa Fang; Sheng Guo

Addresses: School of Mechanical, Electronic and Control Engineering, Robotics Institute, Beijing Jiaotong University, No. 3 Shang Yuan Cun, Hai Dian District, Beijing 100044 China ' School of Mechanical, Electronic and Control Engineering, Robotics Institute, Beijing Jiaotong University, No. 3 Shang Yuan Cun, Hai Dian District, Beijing 100044 China ' School of Mechanical, Electronic and Control Engineering, Robotics Institute, Beijing Jiaotong University, No. 3 Shang Yuan Cun, Hai Dian District, Beijing 100044 China

Abstract: In this paper, the kinematic characteristics of Bennett mechanism and its corresponding regulus are analysed. The screw theory is employed for the analysis of twists and wrenches acted on the specific hyperboloid, and the common constraints are obtained. Through the DOF analysis, we find that the DOF of 4-R mechanism with its joint axes lying on a given regulus is equal to constant one. The general basic Bennett twists are obtained after the analysis of special cases, and the Bennett twists are determined by the given regulus. When the characteristic of Bennett mechanism degenerated, the typical single loop Bennett type mechanisms are obtained.

Keywords: Bennett mechanism; regulus; Bennett twists; screw theory; kinematics; wrenches; hyperboloid; motion analysis.

DOI: 10.1504/IJMRS.2013.057186

International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.2/3, pp.170 - 184

Received: 28 Nov 2012
Accepted: 04 Jun 2013

Published online: 17 Oct 2013 *

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