Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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Author: search.filters.author.Alizade, RasimInstitution Author: search.filters.institutionAuthor.Kiper, Gökhan

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  • Book Part
    Citation - Scopus: 4
    Derivation of Input/Output Relationships for the Bennett 6r Linkages Based on the Method of Decomposition
    (Springer, 2014) Alizade, Rasim; Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre
    The Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spher-ical mechanisms and then removing one of the common links. This paper presents the derivation of the input/output relationships for these mechanisms using the decomposition method. This method is based on writing the input/output equations for the two imaginary loops comprising the 6R mechanism and then eliminating the imaginary joint variable. It is found that the resulting input/output equations con-tain up to 4th power of trigonometric terms, such as cos4 θ.