Spatial 6R linkages based on the combination of two Goldberg 5R linkages
Spatial 6R linkages based on the combination of two Goldberg 5R linkages
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DOI：
10.1016/j.mechmachtheory.2006.12.008
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发表时间：
2007-11
影响因子：
5.2
通讯作者：
Yan Chen;Z. You
中科院分区：
文献类型：
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作者：
Yan Chen;Z. You
在本文中，我们报告的创建一对6R联动组合Goldberg 5R联动。这种新的连杆机构类似于Mavrostan和Roth提出的Bennett关节6R连杆机构。然而，与贝内特接头6R连杆机构不同，定义为连杆上扭转的正弦值与连杆长度之间的比率的班尼特比率对于所有六个连杆不一定相同。定义了新型连杆机构的几何参数，推导了闭合方程。建立了新型连杆机构的物理模型，验证了本文的推导。
In this paper, we report the creation of a pair of 6R linkages by combining Goldberg 5R linkages. The new linkages are similar to the Bennett-joint 6R linkages proposed by Mavroidis and Roth. However, unlike the Bennett-joint 6R linkages, the Bennett ratio, defined as the ratio between the sinusoidal value of the twist over a link and the length of the link, is not necessarily to be the same for all of the six links. The geometric parameters of the new linkages are defined and the closure equations have been derived. Physical models of the new linkages were constructed which validates our derivation.