For Wohlhart's double-Goldberg 6R linkage constructed from two original Goldberg 5R linkages, there are two constructive forms and one non-constructive form, which can be reconfigured through bifurcation points. A special Wohlhart's double-Goldberg 6R linkage is proposed by introducing a special geometry constraint. One of the constructive forms of the resultant linkage is degenerated into a pseudo AR linkage, which is essentially a Bennett linkage. Therefore, the special Wohlhart's double-Goldberg 6R linkage achieves multiple forms among AR and 6R linkages. Physical models are also made to validate the special Wohlhart's double-Goldberg 6R linkage in different operation forms. © Springer-Verlag London 2012.
CITATION STYLE
Song, C., & Chen, Y. (2012). A special Wohlhart’s double-Goldberg 6R linkage and its multiple operation forms among 4R and 6R linkages. In Advances in Reconfigurable Mechanisms and Robots I (pp. 45–52). https://doi.org/10.1007/978-1-4471-4141-9_5
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