Design and kinematic analysis of a multiple-mode 5R2P closed-loop linkage

Abstract

This paper presents the design and kinematic analysis of a multiple-mode 5R2P linkage, which is a spatial closed-loop linkage built by combining two overconstrained mechanisms: The Bennett and RPRP linkages. In the paper, the construction of the multiple-mode 5R2P linkage and its variations is investigated. The analytical inverse kinematic solution of a 4R2P open chain is adopted to analyze the 5R2P linkage for a given driving joint angle. The analysis is then conducted for the whole revolution of the driving crank. The result suggests that the multiple-mode linkage consists of three operation modes: The 5R2P, Bennett, and RPRP modes. Transitional configurations between different modes are also identified in this paper. The multiple-mode linkage features the simpler motions of the Bennett and RPRP modes as well as the more complicated motion of the 5R2P mode without the need to disconnect the linkage. © Springer Science+Business Media B.V. 2010.