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Historical Review of Studies of Spatial nR Linkages
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DOI: https://doi.org/10.15866/ireme.v10i5.8958
Abstract
This paper presents a historical review of spatial nR linkages studies by Russian researches, shows history of the Kazan School of mechanics and points out some of the World researches of overconstrained nR linkages. For a long time Russian scientists investigated the overconstrained spatial nR linkages in isolation from the rest of the World. This led to the formation of unique scientific schools, developing own methods of research. There are an interesting historical paradox: Bennett obtained the new one-degree-of-freedom 4R linkage in 1907. But in 1925 Verkhovskiy, regardless of Bennett research, also obtained this mechanism. Later, in 1947 Verkhovskiy obtained a family of 6R linkages. Some of these linkages was previously obtained by Bricard and Goldberg, but Verkhovskiy used completely new synthesis methods and get the same results as foreign scientists. This paper shows the main achievements of Russian researches, determines the place of Russian studies in the world's researches of spatial nR linkages.
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References
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