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Hart's first inversor, also known as Hart's W-frame, is based on an antiparallelogram.The addition of fixed points and a driving arm make it a 6-bar linkage. It can be used to convert rotary motion to a perfect straight line by fixing a point on one short link and driving a point on another link in a circular arc.
The simplest solutions are Hart's W-frame – which use 6-bars – and the Quadruplanar inversors – Sylvester-Kempe and Kumara-Kampling, which also use 6-bars. Sarrus linkage (1853) Peaucellier-Lipkin inversor (1864) Hart's first inversor / Hart's antiparallelogram / Hart's W-frame (1874) Hart's second inversor / Hart's A-frame (1875 ...
Animation to derive a Quadruplanar Inversor from Hart's first inversor. [Note 1]The Quadruplanar inversor of Sylvester and Kempe is a generalization of Hart's inversor.Like Hart's inversor, is a mechanism that provides a perfect straight line motion without sliding guides.
Six-bar linkage from Kinematics of Machinery, 1876. In mechanics, a six-bar linkage is a mechanism with one degree of freedom that is constructed from six links and seven joints. [1]
Although the Peaucellier–Lipkin linkage, Hart's inversor, and other straight line mechanisms generate true straight-line motion, Watt's linkage has the advantage of much greater simplicity than these other linkages.
Planar quadrilateral linkage, RRRR or 4R linkages have four rotating joints. One link of the chain is usually fixed, and is called the ground link, fixed link, or the frame. The two links connected to the frame are called the grounded links and are generally the input and output links of the system, sometimes called the input link and output link.
This linkage clearly consists of eight bars when the ground frame is counted as a bar. The Chebychev–Grübler–Kutzbach criterion shows that an eight-bar linkage must have ten single degree-of-freedom joints, while the Peaucellier linkage appears to have only six hinged joints. This is resolved by noting that four of the hinged joints each ...
The goal of the synthesis procedure is to compute the coordinates w = (w x, w y) of a moving pivot attached to the moving frame M and the coordinates of a fixed pivot G = (u, v) in the fixed frame F that have the property that w travels on a circle of radius R about G. The trajectory of w is defined by the five task positions, such that