Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance

Volkert van der Wijk*

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientific

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Abstract

In this paper it is shown how a 2-DoF inherently force balanced spatial deployable Butterfly Linkage is found consisting of four entangled similar Bennett linkages moving synchronously and with the common center of mass in the central joint. This linkage is derived from the Grand 4R Four-Bar Based Inherently Balanced Linkage Architecture by selecting a planar linkage with four entangled similar 4R four-bar linkages to which the Bennett conditions are applied. The inherent balance conditions are calculated, which are independent of the Bennett angles, and a CAD-model of the linkage is presented.

Original languageEnglish
Title of host publicationAdvances in Robot Kinematics 2020
EditorsJadran Lenarcic, Bruno Siciliano
PublisherSpringer
Pages25-32
ISBN (Electronic)978-3-030-50975-0
ISBN (Print)978-3-030-50974-3
DOIs
Publication statusPublished - 2021
EventARK 2020: 17th International Symposium Advances in Robot Kinematics - Ljubljana , Slovenia
Duration: 28 Jun 20202 Jul 2020

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume15
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Conference

ConferenceARK 2020: 17th International Symposium Advances in Robot Kinematics
Country/TerritorySlovenia
CityLjubljana
Period28/06/202/07/20

Bibliographical note

Accepted Author Manuscript

Keywords

  • Bennett linkage
  • Deployable
  • Inherent force balance
  • Similar four-bar
  • Static balance

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