The Axis Constraint Equation and a General 6R Double-Spherical Overconstrained Mechanism
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Authors
Cui, Lei
Dai, J.
Date
2009Type
Conference Paper
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This paper investigates a 6R double-spherical overconstrained mechanism with a general arrangement and proves the axis constraint equation in this general type mechanism. The equation is derived with a relaxation of four geometric constraints existing in previous literature which requires that the consecutive axes be perpendicular at each spherical corner.
Citation
Cui, Lei and Dai, Jian S. 2009. The Axis Constraint Equation and a General 6R Double-Spherical Overconstrained Mechanism, in Kecskeméthy A. and Müller, A. (ed), Computational Kinematics: Proceedings of the 5th International Workshop on Computational Kinematics, May 8-9 2009, pp. 233-240. Duisburg, Germany: Springer.
Source Title
Computational Kinematics: Proceedings of the 5th International Workshop on Computational Kinematics
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