Three position synthesis of a spatial RR chain yields two solutions that can be assembled to form a Bennett linkage. In this paper, we show that the cylindroid associated with Bennett’s linkage can be generated directly from the three specified positions, and used to simplify the design equations. Analysis of these equations shows that there are always two solutions and that their symmetry yields a Bennett linkage. An example design is presented.
Dimensional Synthesis of Bennett Linkages
Contributed by the Mechanics and Robotics Committee for publication in the Journal of Mechanical Design. Manuscript received April 2001; revised April 2002. Associate Editor: G. S. Chirikjian.
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Perez, A., and McCarthy, J. M. (March 21, 2003). "Dimensional Synthesis of Bennett Linkages ." ASME. J. Mech. Des. March 2003; 125(1): 98–104. https://doi.org/10.1115/1.1539507
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