A Curious New Family of Overconstrained Six-Bars

[+] Author and Article Information
J. Eddie Baker

Honorary Research Associate, School of Information Technologies,  The University of Sydney, New South Wales 2006, Australiajebaker@it.usyd.edu.au

J. Mech. Des 127(4), 602-606 (Sep 08, 2004) (5 pages) doi:10.1115/1.1897744 History: Received March 25, 2004; Revised September 08, 2004

Discoveries of six-revolute spatial linkages have come about synthetically or intuitively rather than by analytical processes. The recognition of an anteriorly unknown case serendipitously incorporated in a new form of network has added a significant category to the existing tally of solutions. We demonstrate here that there are at least two other closely related loops. Further, the class can be generalized to a six-screw family. Unusual geometrical properties of the group are also investigated by means of displacement-closure equations and screw-motor algebra.

Copyright © 2005 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 3

The previously unreported 6-R linkage, in a schematic outline, analyzed in Ref. 3.

Grahic Jump Location
Figure 2

The selected Cartesian frame mounted on member 1-2 and joint axis 2.

Grahic Jump Location
Figure 1

Typical variables and fixed parameters of a linkage containing only rotary joints.



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