CONSTRUCTION AND KINEMATIC

ANALYSIS OF 6 R MECHANISM

PRESENTED BY
JISHNU G
ME 7
7231

CONTENTS
INTRODUCTION
CONSTRUCTION
OF
MECHANISM
KINEMATIC ANALYSIS
GRAPHS
CONCLUSION
REFERENCE

WHAT IS 6 R MECHANISM?
6 r mechanism is a mechanism having 6
links which provides a spatial movement
by fixing one of its links and by applying
a torque on the adjacent link.

Parameters of 6 r mechanism
l1
l2
l4
l5
l1=l2=l4=l5=l
3,d3
6,d6

Construction of 6 r mechanism

Construction of 6 r mechanism
D

6
C

where 3 &
6 are angle
between the
curved links

Construction of 6 r mechanism
D

AD
AC
C

Where r is
the radius of
the circles

Construction of 6 r mechanism
D

Construction of 6 r mechanism
D

Construction of 6 r mechanism

Construction of 6 r mechanism
D

Construction of 6 r mechanism

4
3

5
6

3 D MOTION OF 6 R
MECHANISM

Kinematic analysis
Kinematic analysis of the 6 r mechanism
had done in
the solid works software.
It is seen that the 6 r mechanism has only
one degree of freedom .
The study of rotation of the links were
made.
The graphs connecting the motion of
input and 4 other links were plotted.
Two configurations are possible for this
constructional values.

Configurations of 6 r mechanism

(1)

(2)

GRAPHS

GRAPHS

CONCLUSION
A 6R mechanism has been proposed using a
geometric construction approach.
Kinematic analysis has been done using the
solid works software
The graphs connecting the motion of input
and 4 other links were plotted.
Two configuration is possible for this
geometrical construction

REFERENCE
[1] R. Bricard, Mmoire sur la thorie de loctadre articul, J. Math. Pures Appl.
3 (1897) 113
148.
[2] R. Bricard, Lecons de cinmatique: Tome II Cinmatique Applique,
Gauthier-Villars, Paris, 1927, 712.
[3] M. Goldberg, New five-bar and six-bar linkages in three dimensions, Trans.
ASME 65 (1943) 649663.
[4] K.J. Waldron, Hybrid overconstrained linkages, J. Mech. 2 (1968) 7378.
[5] K. Wohlhart, A new 6R space mechanism, Proceedings of the 7th World
Congress on Theory of Machines and Mechanisms, Seville, Spain, 1987. pp.
193198.
[6] C. Mavroidis, B. Roth, Analysis of overconstrained mechanism, ASME J.
Mech. Des. 117 (1995) 6974.
[7] P. Dietmaier, A new 6R space mechanism, Proceedings of the 9th World
Congress IFToMM, Milano, Italy, 1995. pp. 5256.
[8] K. Wohlhart, Merging two general Goldberg 5R linkages to obtain a new 6R
space mechanism, Mech. Mach. Theory 26 (2) (1991) 659668.
[9]K.Six,A.Kecskemthy,Steeringpropertiesofacombinedwheeledandleggedstridi
ngexcavator,Proceedingsofthe10thWorldCongressontheTheory of Machines and
Mechanisms, Oulu, Finland, 1999. pp. 135140.
[10] P.J. Zsombor-Murray, A. Gfrerrer,Robotrac mobile 6R closed chain,
Proceedings of CSME Forum 2002, Kingston, Canada, 2002. pp. 0205.
[11] J.E. Baker, Overconstrained six-bars with parallel adjacent joint-axes,
Mech. Mach. Theory 38 (2) (2003) 103117.

THANKS