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.
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Acknowledgments
Song C.Y. would like to thank NTU for providing the University Graduate Scholarship during his PhD study.
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© 2012 Springer-Verlag London
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Song, C., Chen, Y. (2012). A Special Wohlhart’s Double-Goldberg 6R Linkage and Its Multiple Operation Forms Among 4R and 6R Linkages. In: Dai, J., Zoppi, M., Kong, X. (eds) Advances in Reconfigurable Mechanisms and Robots I. Springer, London. https://doi.org/10.1007/978-1-4471-4141-9_5
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DOI: https://doi.org/10.1007/978-1-4471-4141-9_5
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