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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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.
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Computational Kinematics: Proceedings of the 5th International Workshop on Computational Kinematics
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Abstract
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.
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