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Cognate Linkages
Cognate Linkages
Cognate linkages
Hartenberg and Denavit suggested the term
cognate" to describe those linkages that trace the same coupler curve. There are three cognate 4-bar,,toeach of which there corresponds a cognate 5-bar ,of a total of six linkages that trace identical coupler curves.
with side MQ corresponding to side AB. The cognate 4-bar having crank pivots Q and O is referred to as QO 4-bar.
The QO 4-bar
similar to the pivot triangle. The side DC of the coupler triangle corresponds to QM of the pivot triangle. Triangle DCE similar to triangle QMO.
The OM 4-bar
The MQ 5-bar
The OM 5-bar
The QO 5 -bar
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