Full Content is available to subscribers

Subscribe/Learn More  >

Kinematic Analysis and Stiffness Characteristics of a Hybrid 2-DOF 7-Bar Linkage

[+] Author Affiliations
Zhenjun Luo, Jian S. Dai

King’s College London, London, UK

Paper No. DETC2004-57072, pp. 205-213; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


Parallel mechanisms have drawn interest due to many advantages such as large payload ratio, high structural stiffness, low inertias and high dynamic capacities. But there are also drawbacks such as limited workspace and more singularities. Therefore many research efforts have been given to hybrid mechanisms, especially to hybrid serial-parallel mechanisms. This paper presents a new hybrid 2-DoF 7-bar linkage and several related linkages. Such mechanisms allow much larger range of movement than parallel mechanisms, yet have larger stiffness than serial mechanisms, and are desirable for robot fingers and limbs. Kinematic properties of the hybrid 2-DoF 7-bar planar linkage are analyzed. Comparative analyses between it and several 2-DoF linkages are given based on conditioning mapping, stiffness mapping, global conditioning index and global stiffness index. The results demonstrate the applicability of such linkages.

Copyright © 2004 by ASME
Topics: Linkages , Stiffness



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In