A special Wohlhart’s double-goldberg 6R linkage and its multiple operation forms among 4R and 6R linkages

• Main Authors: Song, Chaoyang, Chen, Yan
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Online Access: https://hdl.handle.net/10356/98191; http://hdl.handle.net/10220/13327
• Institution: Nanyang Technological University

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.