On the reciprocal screw axis of the schatz six revolute linkage

摘要

The displacedment closed-form solutions of Schatz six-revolute linkage are devloped by matrix algebra mehtod.Then,based on the transformaiton of oline and screw coordinates,we establish the lagebracic fromulas of screw coorddinates of six-revolute joint axes and the single screw axis reciprocal to the five-ordre screw system defined by the six screw axes with zero pitch corrsponding to the six revolute joint axes of linkage and we further made an algebraci and geometric anlaysis with the help of 3D computer graphics.The associated pitch of this reciprocla screw axis is verious druing its cycle of vmovemdent and there is no transversal to all six joint axes permanently.