Abstract
This chapter presents for the first time a variable revolute joint and a group of reconfigurable and deployable Platonic mechanisms. Structure of the variable revolute joint is presented and demonstrated by its application to the construction of a reconfigurable generic 4R linkage which is capable of converting itself to a planar parallelogram 4R linkage, a spherical 4R linkage and a Bennett linkage. Then, with a two-phase variable revolute joint, a group of reconfigurable and deployable Platonic mechanisms are constructed and mobility of the proposed reconfigurable Platonic mechanisms is investigated by formulating their corresponding constraint matrices. Finally, kinematic characteristics of the proposed mechanisms are illustrated.
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Acknowledgments
The authors gratefully acknowledge the support from the EU 7th Framework Programme TOMSY under grant No.270436, and the support from the National Natural Science Foundation of China (NSFC) under grant No.51175366.
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Wei, G., Dai, J.S. (2014). Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_50
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DOI: https://doi.org/10.1007/978-3-319-06698-1_50
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