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Research Papers

Mechanism State Matrices for Planar Reconfigurable Mechanisms

[+] Author and Article Information
Brian J. Slaboch

Department of Mechanical Engineering, Marquette University, Milwaukee, WI 53233brian.slaboch@marquette.edu

Philip A. Voglewede1

Department of Mechanical Engineering, Marquette University, Milwaukee, WI 53233philip.voglewede@marquette.edu

3RRR denotes a manipulator with three kinematic chains of the type revolute-revolute-revolute.

1

Corresponding author.

J. Mechanisms Robotics 3(1), 011012 (Feb 10, 2011) (7 pages) doi:10.1115/1.4003270 History: Received December 18, 2009; Revised November 24, 2010; Published February 10, 2011; Online February 10, 2011

This paper introduces mechanism state matrices as a novel way to represent the topological characteristics of planar reconfigurable mechanisms. As part of this new approach, these matrices will be used as an analysis tool to automatically determine the degrees of freedom (DOFs) of planar mechanisms that only contain one DOF joint. The DOF at each state can be combined with a mechanism state matrix to form an augmented mechanism state matrix. A series of examples will be used to illustrate the proposed concept.

FIGURES IN THIS ARTICLE
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Copyright © 2011 by American Society of Mechanical Engineers
Topics: Mechanisms
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References

Figures

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Figure 1

Six-bar linkage: state 1

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Figure 2

Six-bar linkage: state 2

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Figure 3

Joint code of common kinematic pairs

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Figure 4

1 DOF six-bar linkage

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Figure 9

Nine-bar linkage

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Figure 10

Planar metamorphic mechanism: state 1

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Figure 11

Planar metamorphic mechanism: state 2

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Figure 12

Planar metamorphic mechanism: state 3

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Figure 13

2R-2P mechanism with perpendicular prismatic joints, (adapted from Ref. 18)

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Figure 14

2R-2P mechanism with parallel prismatic joints, (adapted from Ref. 18)

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