A replaceable-component method to construct single-degree-of-freedom multi-mode planar mechanisms with up to eight links

Abstract

The multi-mode planar mechanisms (MMPMs) are excellent-performance reconfigurable mechanisms, which not only inherit structural characteristics of planar mechanisms but also have the multi-task, multi-working-condition application advantages of multi-mode mechanisms. However, lacking common bifurcation analysis and construction methods, their industrial application and development are seriously hindered. This paper presents a replaceable-component method to construct a set of single-degree-of-freedom (single-DOF) MMPMs based on the branch graphs of the corresponding planar mechanisms and the proposed multi-mode modules (MMMs). First, according to the established loop equations, all the kinematic information of the original planar mechanism is obtained by the branch graphs and singularity points using Maple. Then, compared to the relationship between the concepts of the branch and motion mode, the number and continuity of branches are taken as the index to identify the potential bifurcation and mode conversion ability for the corresponding planar mechanisms. Subsequently, the MMM is presented to help the planar mechanisms break the singularity positions to form the corresponding MMPMs, and the steps of constructing single-DOF MMPMs are summarized. Finally, a single-DOF Stephenson six-bar three-mode planar mechanism, a Watt six-bar three-mode planar mechanism, and an eight-bar four-mode planar mechanism are constructed for the first time, and the corresponding multi-mode motion analyses are made. The results can give the available configuration for the design of corresponding MMPMs. The proposed method will provide strong guidance for the configuration design of MMPMs.