Classification of Angle-Symmetric 6R Linkage

Abstract

In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite joints. We give a classification of these linkages. It turns that there are three types. First, we have the linkages with line symmetry. The second type is new. The third type is related to cubic motion polynomials.

References in corpus (1)

• Factorization of Rational Curves in the Study Quadric and Revolute Linkages

Cited by in corpus (5)

• A Technique for Deriving Equational Conditions on the Denavit-Hartenberg Parameters of 6R Linkages that are Necessary for Movability
• Four-Pose Synthesis of Angle-Symmetric 6R Linkages
• Kempe's Universality Theorem for Rational Space Curves
• Mechanism Singularities Revisited from an Algebraic Viewpoint
• 7R Darboux Linkages by Factorization of Motion Polynomials