Movable Spatial 6R Mechanisms With Three Adjacent Parallel Axes

[+] Author and Article Information
Chung-Ching Lee

Department of Tools & Die Making, National Kaohsiung Institute of Technology, Kaohsiung, Taiwan, 80782, R.O.C.

Hong-Sen Yan

Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan 70101, R.O.C.

J. Mech. Des 115(3), 522-529 (Sep 01, 1993) (8 pages) doi:10.1115/1.2919221 History: Revised June 01, 1991; Online June 02, 2008


Based on derived matrix loop equations and their algebraic manipulations, we obtain the necessary mobility criteria, and prove that there are only three types of movable spatial 6R mechanisms with three adjacent parallel axes. The first type is a general form of Sarrus 6R mechanism. The second type can be regarded as a combination of spherical and planar 4R mechanisms. The third type is a hybrid linkage, first mentioned by Waldron. All these three types are proper linkages confirmed by iteration and optimization methods.

Copyright © 1993 by The American Society of Mechanical Engineers
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