Abstract

This paper investigates, via numerical simulations, the finite displacements of all the known Bennett-based 6R overconstrained linkages: Goldberg’s linkages, variant Goldberg linkages, Waldron’s linkages, and Wohlhart’s linkages. An investigation of the finite displacements of nine distinct linkages reveals that every Bennett-based linkage, except for Wohlhart’s isomerization linkage, inherits the linear properties of the Bennett mechanism. The relative finite displacement screws of some non-adjacent links of these linkages form screw systems of the second order.

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