An Investigation of Linear Properties of the Finite Kinematics of Bennett-Based 6R and some Bricard 6R Overconstrained Mechanisms

• Main Authors: Sun, Chi Chih, 孫啟智
• Other Authors: Huang Chintien
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/59375451859166940807

碩士 === 國立成功大學 === 機械工程學系 === 86 === This thesis investigates the finite displacements of all Bennett-based 6R overconstrained mechanisms and alternative Bricard 6R mechanisms, and the goal is to discover finite screw systems in these linkages.By using numerical simulation, we first re-examine the the linear properties of the Bennett mechanism and Goldberg 5R and 6R linkages. We then extend the result to all Bennett-based 6R linkages: Goldberg's Primary、 Goldberg's Syncopated、Goldberg's L-shaped, Variant Goldberg's Primary、Variant Goldberg's L-shaped, Waldron's Hybrid、Waldron' s Syncopation and Wohlhart's Hybrid linkages. All of the Bennett-based linkages, except for Wohlhart's Isomerization linkage, possess linear properties.The alternative Bricard linkages, including Altmann, two types of orthogonal Bricard linkage, and Turbula linkage, are also investigated. However, no finite screw system can be found in these linkages.