Reconfiguration Analysis and Characteristics of a Novel 8-Link Variable-DOF Planar Mechanism with Five Motion Modes

Variable-DOF (or kinematotropic) mechanisms are a class of reconfigurable that have varying degrees freedom (DOF) in different motion modes and can be reconfigured without disassembly. However, the number proposed variable-DOF multi-loop planar is currently limited. This paper introduces new 8-link mechanism has five modes. Firstly, described. Then, reconfiguration analysis performed using hybrid approach combines elimination computer algebraic geometry methods. The reveals one 2-DOF mode four 1-DOF It switch among three at transition configurations between two remaining configurations. also highlights geometric characteristics In contrast to presented literature, inactive joints its Moreover, both closed-loop 4R kinematic sub-chains must appear as either pair parallelograms or anti-parallelograms same mode. As by-product this research, method for factoring trigonometric functions angles proposed.