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      A special Wohlhart’s double-goldberg 6R linkage and its multiple operation forms among 4R and 6R linkages

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      Author
      Song, Chaoyang
      Chen, Yan
      Date of Issue
      2012
      Conference Name
      International Conference on Reconfigurable Mechanisms and Robots (2nd : 2012)
      School
      School of Mechanical and Aerospace Engineering
      Abstract
      For Wohlhart’s double-Goldberg 6R linkage constructed from two original Goldberg 5R linkages, there are two constructive forms and one non-constructive form, which can be reconfigured through bifurcation points. A special Wohlhart’s double-Goldberg 6R linkage is proposed by introducing a special geometry constraint. One of the constructive forms of the resultant linkage is degenerated into a pseudo 4R linkage, which is essentially a Bennett linkage. Therefore, the special Wohlhart’s double-Goldberg 6R linkage achieves multiple forms among 4R and 6R linkages. Physical models are also made to validate the special Wohlhart’s double-Goldberg 6R linkage in different operation forms.
      Type
      Conference Paper
      Rights
      © 2012 Springer-Verlag London.
      Collections
      • MAE Conference Papers
      http://dx.doi.org/10.1007/978-1-4471-4141-9_5
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