Abstract
In this paper, we consider a special kind of overconstrained 6R closed linkages which we call parallel 6R linkages. These are linkages with the property that they have three pairs of parallel joint-axes. We prove that there are three types of parallel 6R linkage. The first type is new, the other two also appear in a recent classification of linkages with angle equalities. We give constructions for each of the three types.
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Notes
- 1.
Just in the last moment, we learned that a special case of this linkage was discovered in A. Gfrerrer and P.J. Zsombor-Murray, Robotrac Mobile 6R Closed Chain, Proc. CSME Forum 2002, see also www.geometrie.tugraz.at/lehre/KinematikRobotik/CrankAxlePerspektive.gif.
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Acknowledgments
The research was supported by the Austrian Science Fund (FWF): W1214-N15, project DK9.
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Li, Z., Schicho, J. (2014). Three Types of Parallel 6R Linkages. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_13
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DOI: https://doi.org/10.1007/978-94-007-7214-4_13
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