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Bifurcation Characteristics of Six-Bar Linkages

[+] Author Affiliations
Yu-Xin Wang, Rui-Qin Guo

Tongji University, Shanghai, China

Paper No. DETC2005-84865, pp. 841-846; 6 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


Analysis and evaluation of singularities play an important role in several aspects of mechanisms and robotics including design, trajectory planning, and control. In this paper, taking the Watt linkage as an example, the bifurcation characteristics of a six-bar linkage have been investigated. It has been found that the bifurcation characteristics of the mechanism belong to the turning point bifurcation and sometimes a kind of dual turning point bifurcation will take place, and selecting different driving link and Ground, the bifurcation characteristics will not be changed but it only has effects on the number of singularities.

Copyright © 2005 by ASME
Topics: Linkages , Bifurcation



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