Six-bar linkage

From Wikipedia, the free encyclopedia
Six-bar linkage from Kinematics of Machinery, 1876
Six-bar linkage from Kinematics of Machinery, 1876

A six-bar linkage is a one degree-of-freedom mechanism that is constructed from six links and seven joints.[1] An example is the Klann linkage used to drive the legs of a walking machine.

In general, each joint of a linkage connects two links, and a binary link supports two joints. If we consider a hexagon to be constructed from six binary links with six of the seven joints forming its vertices, then, the seventh joint can be added to connect two sides of the hexagon to forming a six-bar linkage with two ternary joints. This type of six-bar linkage is said to have the Watt topology.[2]

A six-bar linkage can also be constructed by first assembling five binary links into a pentagon, which uses five of the seven joints, and then completing the linkage by adding a binary link that connects two sides of the pentagon. This again creates two ternary links that are now separated by one or more binary links. This type of six-bar linkage is said to have the Stephenson topology.

The Klann linkage has the Stephenson topology.

See also

References

  1. ↑ J. M. McCarthy and G. S. Soh, Geometric Design of Linkages, 2nd Edition, Springer 2010
  2. ↑ An animation of a six-bar linkage with the Watt topology.
This article is issued from Wikipedia. The text is available under the Creative Commons Attribution/Share Alike; additional terms may apply for the media files.