The synthesis of six-bar linkages as constrained planar 3R chains

被引：58

作者：

Soh, Gim Song ^{[1
]}

McCarthy, J. Michael ^{[1
]}

机构：

[1] Univ Calif Irvine, Dept Mech & Aerosp Engn, Robot & Automat Lab, Irvine, CA 92697 USA

来源：

MECHANISM AND MACHINE THEORY | 2008年 / 43卷 / 02期

基金：

美国国家科学基金会;

关键词：

six-bar linkage; linkage synthesis; linkage analysis;

D O I：

10.1016/j.mechmachtheory.2007.02.004

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, we constrain a planar serial chain formed by three revolute joints, so that it becomes a one degree-of-freedom six-bar linkage. Our focus is on the various ways that two RR chains can be attached to constrain the links of the 3R chain, and ensure that the end-effector passes through a set of five specified task positions. This synthesis process yields designs for the Watt I and Stephenson I, II, and III six-bar linkages. This approach does not apply to the Watt It because its floating link is not connected to the ground frame by a 3R chain. We demonstrate the synthesis process with the design of a six-bar steering linkage intended for use on a gravity racer. (c) 2007 Elsevier Ltd. All rights reserved.

引用

页码：160 / 170

页数：11

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