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Title: Derivation of input/output relationships for the Bennett 6R linkages based on the method of decomposition
Authors: Alizade, Rasim
Kiper, Gökhan
Dede, Mehmet İsmet Can
Uzunoğlu, Emre
Keywords: Bennett 6R linkages
Passive joints
Input/output relationship
Method of decomposition
Issue Date: 2014
Publisher: Springer
Source: Alizade, R. I., Kiper, G., Dede, M. İ. C., & Uzunoğlu, E. (2014). Derivation of input-output relationship for the Bennett 6R linkages based on the method of decomposition. In: Petuya, V., Pinto, C., & Lovasz, E-C. (Eds.). New Advances in Mechanisms, Transmissions and Applications: Proceedings of the Second Conference MeTrApp 2013, (pp. 225-231). Switzerland: Springer. doi:10.1007/978-94-007-7485-8_28
Abstract: The Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spher-ical mechanisms and then removing one of the common links. This paper presents the derivation of the input/output relationships for these mechanisms using the decomposition method. This method is based on writing the input/output equations for the two imaginary loops comprising the 6R mechanism and then eliminating the imaginary joint variable. It is found that the resulting input/output equations con-tain up to 4th power of trigonometric terms, such as cos4 θ.
ISBN: 978-94-007-7484-1
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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