Diversifying Construction Units and Types of 1-DOF Multi-loop Plane-Symmetric Overconstrained Spatial Mechanisms

This paper is about the construction of 1-DOF multi-loop plane-symmetric overconstrained spatial mechanisms (MLPSOSMs). After introducing a variable-axis revolute (R) joint, a generalized symmetric spatial RRR triad is proposed, and its motion and constraint characteristics are also identified using screw theory. Two new types of MLPSOSMs are then constructed using generalized symmetric spatial RRR triads. From these two types of MLPSOSMs, seven more types of MLPSOSMs are obtained by using Waldron’s methods for constructing MLPSOSMs from a 1-DOF plane-symmetric 6R overconstrained spatial mechanism. This paper enriches the types of multi-loop overconstrained mechanisms and construction units of overconstrained mechanisms.