@article{Gu2022OverconstrainedCoaxial,

title = {Overconstrained Coaxial Design of Robotic Legs with Omni-directional Locomotion},

author = {Yuping Gu and Shihao Feng and Yuqin Guo and Fang Wan and Jiansheng Dai and Jia Pan and Chaoyang Song},

doi = {10.1016/j.mechmachtheory.2022.105018},

year  = {2022},

date = {2022-10-01},

urldate = {2022-10-01},

journal = {Mechanism and Machine Theory},

volume = {176},

issue = {October},

pages = {105018},

abstract = {While being extensively researched in literature, overconstrained linkages’ engineering potential is yet to be explored. This study investigates the design of overconstrained linkages as robotic legs with coaxial actuation starting with the simplest case, Bennett linkage, to establish the theoretical foundations and engineering advantages of a class of overconstrained robots. We proposed a parametric design of the spatial links and joints in alternative forms so that one can fabricate these overconstrained limbs via 3D printing and then attach the linkage coaxially to a pair of servo actuators as a reconfigurable leg module. We adopted multi-objective optimization to refine the design parameters by analyzing its manipulability metric and force transmission, enabling omni-directional ground locomotion projected from a three-dimensional surface workspace. The proposed prototype quadruped was capable of omni-directional locomotion and had a minimal turning radius (0.2 Body Length) using the fewest actuators. We further explored the kinematics and design potentials to generalize the proposed method for all overconstrained 5R and 6R linkages, paving the path for a future direction in overconstrained robotics.},

keywords = {Authorship - Corresponding, JCR Q1, Jour - Mech. Mach. Theory (MMT)},

pubstate = {published},

tppubtype = {article}

}

@article{Song2015ReconfigurableMechanism,

title = {Reconfigurable Mechanism Generated from the Network of Bennett Linkages},

author = {Chaoyang Song and Huijuan Feng and Yan Chen and I-Ming Chen and Rongjie Kang},

doi = {10.1016/j.mechmachtheory.2015.02.003},

year  = {2015},

date = {2015-06-01},

urldate = {2015-06-01},

journal = {Mechanism and Machine Theory},

volume = {88},

issue = {June},

pages = {49-62},

abstract = {A network of four Bennett linkages is proposed in this paper. Totally five types of overconstrained 5R and 6R linkages, including the generalized Goldberg 5R linkage, generalized variant of the L-shape Goldberg 6R linkage, Waldron's hybrid 6R linkage, isomerized case of the generalized L-shape Goldberg 6R linkage, and generalized Wohlhart's double-Goldberg 6R linkage, can be constructed by modifying this Bennett network. The 8R linkage formed by Bennett network serves as the basic mechanism to realise the reconfiguration among five types of overconstrained linkages by rigidifying some of the eight joints. The work also reveals the in-depth relationship among the Bennett-based linkages, which provides a substantial advancement in the design of reconfigurable mechanisms using overconstrained linkages.},

keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},

pubstate = {published},

tppubtype = {article}

}

@article{Song2013A6R,

title = {A 6R Linkage Reconfigurable between the Line-Symmetric Bricard Linkage and the Bennett Linkage},

author = {Chaoyang Song and Yan Chen and I-Ming Chen},

doi = {10.1016/j.mechmachtheory.2013.07.013},

year  = {2013},

date = {2013-12-01},

urldate = {2013-12-01},

journal = {Mechanism and Machine Theory},

volume = {70},

issue = {December},

pages = {278-292},

abstract = {This paper explores the feasibility of constructing mechanisms reconfigurable between 6R and 4R overconstrained linkages. Spatial triangle and Bennett linkage are used as the building blocks to form the reconfigurable Bricard linkage. Due to the different directions of the joint axes, the Bennett linkage can be setup in either asymmetric or line-symmetric manners. Subsequently, two 6R linkages are constructed in asymmetric and line-symmetric configurations, respectively. Their potential of reconfiguration is investigated through bifurcation analysis. The result shows that the asymmetric one can be reconfigured between Bennett linkage and general line-symmetric Bricard linkage through bifurcation points, while the line-symmetric one only functions as a Bennett linkage with two additional fixed joints.},

keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},

pubstate = {published},

tppubtype = {article}

}

@article{Song2012MultipleLinkage,

title = {Multiple Linkage Forms and Bifurcation Behaviours of the Double-Subtractive-Goldberg 6R Linkage},

author = {Chaoyang Song and Yan Chen},

doi = {10.1016/j.mechmachtheory.2012.07.002},

year  = {2012},

date = {2012-11-01},

urldate = {2012-11-01},

journal = {Mechanism and Machine Theory},

volume = {57},

issue = {November},

pages = {95-110},

abstract = {In this paper, a particular type of double-subtractive-Goldberg 6R linkage is obtained by combining two subtractive Goldberg 5R linkages on the commonly shared ‘roof-links’ through the common link-pair method and common Bennett-linkage method. Two distinct linkage forms are obtained with the identical geometry conditions, yet different closure equations. Bifurcation behaviours of these two forms are analysed, leading to the discovery of two more linkage forms of this linkage, which cannot be constructed with Bennett linkages or Goldberg linkages directly. From the construction process, this 6R linkage belongs to the Bennett-based linkages. But about the bifurcation behaviours, it is closely related to the line-symmetric Bricard linkage because of its hidden symmetric property. Therefore, it could play an important role in exploring the relationship between the Bennett-based linkages and the Bricard linkages.},

keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},

pubstate = {published},

tppubtype = {article}

}

@article{Song2011ASpatial,

title = {A Spatial 6R Linkage Derived from Subtractive Goldberg 5R Linkages},

author = {Chaoyang Song and Yan Chen},

doi = {10.1016/j.mechmachtheory.2011.03.006},

year  = {2011},

date = {2011-08-01},

urldate = {2011-08-01},

journal = {Mechanism and Machine Theory},

volume = {46},

number = {8},

issue = {August},

pages = {1097-1106},

abstract = {In this paper, a subtractive Goldberg 5R linkage is defined as a variation of Goldberg 5R linkage. A spatial 6R linkage is constructed by combining two subtractive Goldberg 5R linkages through a common Bennett linkage. This 6R linkage, namely double subtractive Goldberg 6R linkage, appears to be distinct from other existing spatial 6R overconstrained linkages reported before. Both the overconstrained geometric conditions and the closure equations of the proposed linkage are derived. Physical models are also made to validate the linkage.},

keywords = {Authorship - First Author, JCR Q1, Jour - Mech. Mach. Theory (MMT)},

pubstate = {published},

tppubtype = {article}

}