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Analysis and Technology of the Bricard Linkage Kinematic Parameters Comparative Experiments

The article considers kinematic parameters of the 6R Bricard linkage characteristic point obtained analytically. Computer simulation of this mechanism resulted in diagrams of changes in the special orientation of the coordinate system of the characteristic point and a projection of its velocities to the basic coordinates system. In addition, we developed a prototype model for experimental studies. The difference between data obtained using the experimental model and the data obtained by computer analysis is less than 5%. This article describes the components of the experimental model. Using a stepper motor requires solving additional tasks: resonance, peaks at the first and the last steps, step dividing, ensuring the smooth acceleration of the motor shaft, smooth increasing of the shaft load, etc.