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Geometric Modelling of Bennet-Goldberg Overconstrained Mechanisms

Authors: [tex2html_wrap4272]P. Zsombor-Murray, R. Zhang, A. Kloet

Investigator username: paul

Category: robotics

Subcategory: manipulators and actuators

Certain 4-,5- and 6R closed chain spatial mechanisms are mobile in at least 1DOF even though, in general, m=r-7, where m is the number of DOF and r is the number of simple revolute hinges in the closed chain. Some of these have been investigated, especially a mobile, cubic space ``frame'' composed of 20 links and 24 hinges. In spite of its apparent complexity it is easy to build and analyze and promises to serve as an interesting robotic building block.