Abstract
This paper for the first time investigates a family of planesymmetric Bricard linkages studying two generated toroids. By means of their intersection, a set of special Bricard linkages with various branches of reconfiguration are designed. An analysis of the intersection of these two toroids reveals the presence of coincident conical singularities which lead to the design of plane-symmetric linkages that evolve to spherical 4R linkages. By examining the tangents to the curves of intersection at the conical singularities it is found that the linkage can be reconfigured between the two possible branches of spherical 4R motion without disassembling it and without requiring the usual special configuration connecting the branches.
The study of tangent intersections between concentric singular toroids also reveals the presence of isolated points in the intersection which suggests that some linkages satisfying the Bricard plane-symmetry conditions are actually structures with zero finite degrees of freedom but with higher instantaneous mobility. This paper is the second part of a paper submitted in parallel by the authors in which the method is applied to the line-symmetric case.
The study of tangent intersections between concentric singular toroids also reveals the presence of isolated points in the intersection which suggests that some linkages satisfying the Bricard plane-symmetry conditions are actually structures with zero finite degrees of freedom but with higher instantaneous mobility. This paper is the second part of a paper submitted in parallel by the authors in which the method is applied to the line-symmetric case.
| Original language | English |
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| Journal | Transactions of the ASME Journal of Mechanisms and Robotics |
| Early online date | 1 Mar 2018 |
| DOIs | |
| Publication status | Published - Jun 2018 |