Twin–bennett linkage and one type of its mobile assemblies

Abstract

A 6R linkage, which belongs to the group of overconstrained mechanisms, is presented from the perspectives of geometric conditions, closure equations and degree of freedom. The linkage is constructed with two identical Bennett linkages, named as Twin–Bennett linkage. One special type of its assembly is probed around regular polygons, imitating the motion of flowering. A conclusion is put forward to prove single DoF of the assembling mechanism. In addition, preliminary discussions are also presented about the kinematics of Twin-Bennett linkage in a motion period.