The Bennett linkage 89
The revolute variables for each joint and twists for each segment of a
link are given in Figure 5.9(b). Thus, the following relationships must
hold.
In Bennett linkage ABCD,
;
(5.24)
JBKS,
;
(5.25)
PVND,
;
(5.26)
RSTV,
.
(5.27)
In AJTP, twists become α 0 + α 7 , β 0 + β 3 , and variables are π – φ, π – σ, thus,
.
(5.28)
Similarly in RKCN with twists being α 0 + α 3 , β 0 + β 7 , and variables π – φ,
π – σ,
.
(5.29)