A special Wohlhart’s double-goldberg 6R linkage and its multiple operation forms among 4R and 6R linkages
Author
Song, Chaoyang
Chen, Yan
Date of Issue
2012Conference 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
http://dx.doi.org/10.1007/978-1-4471-4141-9_5
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