Contents
Acknowledgements
vii
1 Introduction
1
2 Fundamental concepts, methods and classification
4
2.1 Introduction 4
2.2 Kinematics of linkages 10
2.3 Overconstrained linkages 17
2.4 Mechanisms and structures 33
3 Planar double chain linkages
36
3.1 Scissor- like elements and their assemblies 36
3.2 Closed double chain 40
3.3 Supports for double chains 52
3.4 Growth of a double chain 56
3.5 Conclusions 58
4 Spatial rings and domes
62
4.1 Introduction 62
4.2 Rings 64
4.3 Domes 70
4.4 Other design considerations 75
5 Spatial motion structures based on the Bennett linkage
77
5.1 Introduction 77
5.2 Single- layer assembly of Bennett linkages 77
5.3 Multi- layer assemblies of Bennett linkages 88