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TECHNICAL PAPERS

Dimensional Synthesis of Bennett Linkages

[+] Author and Article Information
Alba Perez, J. M. McCarthy

Robotics and Automation Laboratory, Dept. of Mechanical and Aerospace Engineering, University of California, Irvine, CA 92697

J. Mech. Des 125(1), 98-104 (Mar 21, 2003) (7 pages) doi:10.1115/1.1539507 History: Received April 01, 2001; Revised April 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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References

Veldkamp,  G. R., 1967, “Canonical Systems and Instantaneous Invariants in Spatial Kinematics,” J. Mec., 3, pp. 329–388.
Suh,  C. H., 1969, “On the Duality in the Existence of R-R Links for Three Positions,” ASME J. Ind., 91(B), pp. 129–134.
Tsai,  L. W., and Roth,  B., 1973, “A Note on the Design of Revolute-Revolute Cranks,” Mech. Mach. Theory, 8, pp. 23–31.
Huang, C., 1996, “The Cylindroid Associated with Finite Motions of the Bennett Mechanism,” Proceedings of the ASME Design Engineering Technical Conferences, Irvine, CA.
Bennett,  G. T., 1903, “A New Mechanism,” Engineering,76, pp. 777–778.
Bottema, O., and Roth, B., 1979, Theoretical Kinematics, North-Holland (reprinted by Dover Publications, 1990).
McCarthy, J. M., 1990, Introduction to Theoretical Kinematics, The MIT Press.
Huang,  C., 1994, “On the Finite Screw System of the Third Order Associated with a Revolute-Revolute Chain,” ASME J. Mech. Des., 116, pp. 875–883.
Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Clarendon Press.
Parkin,  I. A., 1992, “A Third Conformation with the Screw Systems: Finite Twist Displacements of a Directed Line and Point,” Mech. Mach. Theory, 27, 177–188.
Parkin, I. A., 1997, “Finding the Principal Axes of Screw Systems,” Proceedings of the ASME Design Engineering Technical Conferences, Sacramento, CA.
Suh, C. H., and Radcliffe, C. W., 1978, Kinematics and Mechanisms Design, John Wiley & Sons.
McCarthy, J. M., 2000, Geometric Design of Linkages, Springer-Verlag.
Tsai, L. W., 1972, “Design of Open-Loop Chains for Rigid Body Guidance,” Stanford University Ph.D. dissertation.
Yu,  H. C., 1981, “The Bennett Linkage, its Associated Tetrahedron and the Hyperboloid of Its Axes,” Mech. Mach. Theory, 16, pp. 105–114.
Baker, J. E., 1998, “On the Motion Geometry of the Bennett Linkage,” Proc. 8th Internat. Conf. on Engineering Computer Graphics and Descriptive Geometry, Austin, Texas, Vol. 2, pp. 433–437.
Huang,  C., and Sun,  C., 2000, “An Investigation of Screw Systems in the Finite Displacements of Bennett-Based 6R Linkages,” ASME J. Mech. Des., 122(4), pp. 426–430.
Perez,  A., and McCarthy,  J. M., 2002, “Bennett’s Linkage and the Cylindroid,” Mech. Mach. Theory, 37(11), pp. 1245–1260.

Figures

Grahic Jump Location
The cylindroid as viewed first from the top along the central axis, then from the side and finally, from an angle
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The principal axes as located from the initial screws S12 and S13
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The tetrahedron defines the Bennett linkage
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The specified positions
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The Bennett linkage at the three specified positions

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