Fundamental concepts 25
Chen and You (2007b) reported two types of 6R linkages, constructed
from combination of two Goldberg 5R linkages in a matter similar to what
Wohlhart did. If Wohlhart’s combination is referred to as a face- to-face
combination of two Goldberg 5R linkages, Chen and You’s could be
regarded as back- to-back as demonstrated in Figure 2.19. Mavroidis and
Roth (1994) discovered a new overconstrained 6R linkage, the Bennettjoint 6R linkage, as a by- product of their effort to develop a systematic
method to deal with overconstrained linkages. And Dietmaier 6R linkage
was discovered with the aid of a numerical method (Dietmaier, 1995).
More generally, Waldron (1968) drew attention to a class of mobile sixbar linkages with only lower pairs which included helical, cylinder and
prism joints in addition to revolute joints. He suggested that any two
single- loop linkages with a single degree of freedom could be arranged in a
(b)
Figure 2.16 continued.
Chen and You (2007b) reported two types of 6R linkages, constructed
from combination of two Goldberg 5R linkages in a matter similar to what
Wohlhart did. If Wohlhart’s combination is referred to as a face- to-face
combination of two Goldberg 5R linkages, Chen and You’s could be
regarded as back- to-back as demonstrated in Figure 2.19. Mavroidis and
Roth (1994) discovered a new overconstrained 6R linkage, the Bennettjoint 6R linkage, as a by- product of their effort to develop a systematic
method to deal with overconstrained linkages. And Dietmaier 6R linkage
was discovered with the aid of a numerical method (Dietmaier, 1995).
More generally, Waldron (1968) drew attention to a class of mobile sixbar linkages with only lower pairs which included helical, cylinder and
prism joints in addition to revolute joints. He suggested that any two
single- loop linkages with a single degree of freedom could be arranged in a
(b)
Figure 2.16 continued.