Articles | Volume 14, issue 1
Research article
12 Apr 2023
Research article |  | 12 Apr 2023

Synthesis of clearance for a kinematic pair to prevent an overconstrained linkage from becoming stuck

Jian Qi, Yuan Gao, and Fufu Yang

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Cited articles

Baker, J. E.: The Bennett, Goldberg and Myard linkages – in perspective, Mech. Mach. Theory, 14, 239–253, 1979. 
Bennett, G. T.: A new mechanism, Engineering, 76, 777–778, 1903. 
Bricard, R.: Lecons de cinématique, Gauthier-Villars, Paris, France, FRBNF12938857, 1927. 
Cai, Z.: Robotics, Tsinghua University Press, Beijing, China, ISBN 9787302383697, 2009.  
Chen, Y.: Design of Structural Mechanisms, PhD thesis, University of Oxford, London, UK, 2003. 
Short summary
Overconstrained linkages always need fewer links to realize complex motion in a 3D space and are supposed to be great for constructing large deployable structures. However, the strict geometric conditions are hard to use in a complicated 3D environment. In this study, joint clearance is actively introduced to improve the adaptivity of the linkages (with an example given). This work is significant for improving the application of overconstrained linkages in a complicated environment.