Composition of Eight-Link Closed Kinematic Chains of Moving Links of the Sixth Subfamily of the First Family

The article presents the universal structural system of Professor L. T. Dvornikov for closed kinematic chains of moving links of the first family. The features of its application to determine the composition of eight-link closed kinematic chains of moving links of the sixth subfamily of the first family are shown. A structural formula of mobility is given for closed kinematic chains of moving links of the sixth subfamily of the first family. A complete set of solutions has been found that describes the organization of closed kinematic chains of moving links of the sixth subfamily of the first family with the complexity of the basic chain link equal to three, the mobility of the chain equal to six and the total number of chain links equal to eight. Combinations of kinematic pairs and links have been obtained, which are the foundation for constructing structural diagrams of eight-link closed kinematic chains of moving links of the sixth subfamily of the first family of the third type, allowing one to find all the structural diagrams of these chains according to the given parameters. Using a specific example, the procedure for applying the solutions found for the synthesis of structural diagrams of eight-link closed kinematic chains of moving links of the sixth subfamily of the first family is shown.