Classification of Angle-Symmetric 6R Linkage
This work addresses a specific problem in mechanical linkage theory, providing a classification that is incremental to existing knowledge.
The paper tackled the classification of angle-symmetric 6R linkages, which are overconstrained closed linkages with equal rotation angles for opposite joints, and found that there are three types, including a new one.
In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite joints. We give a classification of these linkages. It turns that there are three types. First, we have the linkages with line symmetry. The second type is new. The third type is related to cubic motion polynomials.