Applicability and Effectiveness of the Bennett Mechanism

Improving the energy efficiency in multibody robotic systems remains a key challenge in engineering. This study examines the Bennett mechanism, a four-link, specifically single degree of freedom (1-DOF), spatial mechanism with a closed-loop kinematic structure. Despite being overconstrained, its unique geometry enables smooth motion, making it suitable for industrial pick-and-place tasks. Energy consumption measurements compared the Bennett mechanism with the UR3e collaborative robot, showing significantly lower energy use while maintaining comparable trajectory accuracy and velocity curves. These findings highlight the potential of closed-loop multibody mechanisms like the Bennett linkage for energy-efficient industrial applications.