An Overconstrained Vertical Darboux Mechanism

TL;DR

This paper designs an overconstrained closed-loop linkage with four revolute and one cylindrical joint, derived from a vertical Darboux motion, revealing multiple operation modes and specific conditions for Darboux motion realization.

Contribution

It introduces a novel overconstrained mechanism based on vertical Darboux motion and analyzes its kinematic behavior and operation modes.

Findings

Mechanism exhibits multiple operation modes.

Certain design parameters enable vertical Darboux motions.

Existence of a second assembly mode under specific conditions.

Abstract

In this article, we will construct an overconstrained closed-loop linkage consisting of four revolute and one cylindrical joint. It is obtained by factorization of a prescribed vertical Darboux motion. We will investigate the kinematic behaviour of the obtained mechanism, which turns out to have multiple operation modes. Under certain conditions on the design parameters, two of the operation modes will correspond to vertical Darboux motions. It turns out, that for these design parameters, there also exists a second assembly mode.