@inbook{71ad565b4c234365b51716ab61941ada,
title = "Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance",
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.",
keywords = "Bennett linkage, Deployable, Inherent force balance, Similar four-bar, Static balance",
author = "{van der Wijk}, Volkert",
note = "Accepted Author Manuscript; ARK 2020: 17th International Symposium Advances in Robot Kinematics ; Conference date: 28-06-2020 Through 02-07-2020",
year = "2021",
doi = "10.1007/978-3-030-50975-0_4",
language = "English",
isbn = "978-3-030-50974-3",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer",
pages = "25--32",
editor = "Lenarcic, {Jadran } and Siciliano, {Bruno }",
booktitle = "Advances in Robot Kinematics 2020",
}