A Special Wohlharts Double-Goldberg 6R Linkage and its Multiple Operation Forms Among 4R and 6R Linkages

摘要：

For Wohlharts 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 Wohlharts 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 Wohlharts double-Goldberg 6R linkage achieves multiple forms among 4R and 6R linkages. Physical models are also made to validate the special Wohlharts double-Goldberg 6R linkage in different operation forms.

关键词： Wohlharts double-Goldberg linkage Overconstrained linkage Multiple operation modes

作者: Chaoyang Song Yan Chen

作者单位: School of Mechanical and Aerospace Engineering, Nanyang Technological University,Singapore, Singapore

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 45-52

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）