A spatial 6R linkage derived from subtractive Goldberg 5R linkages

作者：Song C Y; Chen Y^*

来源：Mechanism and Machine Theory, 2011, 46(8): 1097-1106.

DOI：10.1016/j.mechmachtheory.2011.03.006

• Overconstrained linkage
• Bennett linkage
• Goldberg 5R linkage
• Subtractive Goldberg 5R linkage
• Double subtractive Goldberg 6R linkage

In this paper, a subtractive Goldberg 5R linkage is defined as a variation of Goldberg 5R linkage. A spatial 6R linkage is constructed by combining two subtractive Goldberg 5R linkages through a common Bennett linkage. This 6R linkage, namely double subtractive Goldberg 6R linkage, appears to be distinct from other existing spatial 6R overconstrained linkages reported before. Both the overconstrained geometric conditions and the closure equations of the proposed linkage are derived. Physical models are also made to validate the linkage.

• 出版日期2011-8
• 单位南阳理工学院