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dc.contributor.authorSong, Chaoyangen
dc.contributor.authorChen, Yanen
dc.identifier.citationSong, C., & Chen, Y. (2012). A family of mixed double-Goldberg 6R linkages. Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences, 468(2139), 871-890.en
dc.description.abstractA complete family of double-Goldberg 6R linkages is reported in this article by combining a subtractive Goldberg 5R linkage and a Goldberg 5R linkage through the common link-pair or common Bennett-linkage method. A number of distinct types of overconstrained linkages are built, namely the mixed double-Goldberg 6R linkages. They all have one degree of freedom and their closure equations are derived in detail. One of them degenerates into a Goldberg 5R linkage. From the construction process and geometry conditions, the corresponding relationship between the newly found 6R linkages and the double-Goldberg 6R linkages, constructed from two Goldberg 5R linkages or two subtractive Goldberg 5R linkages, has been established.en
dc.relation.ispartofseriesProceedings of the royal society A : mathematical, physical and engineering sciencesen
dc.rights© 2011 The Royal Society.en
dc.titleA family of mixed double-Goldberg 6R linkagesen
dc.typeJournal Articleen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen
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