In this paper it is shown how a 2-DoF inherently force balanced spatial deployable Butterfly Linkage is found consisting of four entangled similar Bennett linkages moving synchronously and with the common center of mass in the central joint. This linkage is derived from the Grand 4R Four-Bar Based Inherently Balanced Linkage Architecture by selecting a planar linkage with four entangled similar 4R four-bar linkages to which the Bennett conditions are applied. The inherent balance conditions are calculated, which are independent of the Bennett angles, and a CAD-model of the linkage is presented.


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    Title :

    Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020



    Publication date :

    2020-07-18


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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