A novel line-symmetric Goldberg 6R linkage with bifurcation property

Abstract

This paper proposes a novel reconfigurable Goldberg 6R linkage, conformed to the construction of variant serial Goldberg 6R linkage, while simultaneously satisfying the line-symmetric Bricard qualifications. The isomeric mechanism of this novel reconfigurable mechanism is obtained in combination with the isomerization method. The geometrically constrained conditions result in variable motion branches of the mechanism. Based on the singular value decomposition of the Jacobian matrix, the motion branches and branch bifurcation characteristics are analyzed, and the schematics of bifurcations in joint space is derived. This novel 6R linkage features one Goldberg 6R motion branch, two line-symmetric Bricard 6R motion branches, and one Bennett motion branch. With regards to the line-symmetric Bricard 6R motion branches, a similar function for the disassembly and recombination process can be achieved by reconstructing an intermediate configuration through bifurcation. Then, the isomerized generalized variant Goldberg 6R linkage is explicated in a similar way. Acting as a bridge, reconfigurability connects two families of overconstrained mechanisms.

Keywords

overconstrained mechanism / reconfigurable mechanism / SVD method / bifurcation characteristics

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