Abstract
This article considers the problem of Bricard linkage and its modifications kinematic research. This linkage is interesting for its paradoxical mobility, which does not match with the value obtained by using common methods. This feature makes it possible to find practical usages of Bricard linkage in different areas. The paper shows application of the matrix transformations method to determine the kinematic parameters of Bricard linkage and its modifications. The article describes principles of choosing the coordinate systems associated with the joints to determine linkage’s kinematic parameters. Using matrix transformation method allowed us to obtain the system of equations describing the relationship between the rotation angles of the mechanism links. As a result, this research gives formulas of angular velocity and acceleration for linkage’s joints.
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Yarullin, M.G., Galiullin, I.A. (2016). Kinematic Research of Bricard Linkage Modifications. In: Evgrafov, A. (eds) Advances in Mechanical Engineering. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-29579-4_3
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DOI: https://doi.org/10.1007/978-3-319-29579-4_3
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