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Cognate linkages
Cognate linkages Hartenberg and Denavit suggested the term
cognate" to describe those linkages that trace the same coupler curve. There are three cognate 4-bar,,toeach of which there corresponds a cognate 5-bar ,of a total of six linkages that trace identical coupler curves.
A 4-bar mechanism (MQ 4-bar)
Pivot triangle MQO similar to coupler triangle ABC
with side MQ corresponding to side AB. The cognate 4-bar having crank pivots Q and O is referred to as QO 4-bar.
The QO 4-bar
The coupler triangle for the QO 4-bar must be
similar to the pivot triangle. The side DC of the coupler triangle corresponds to QM of the pivot triangle. Triangle DCE similar to triangle QMO.
The OM 4-bar
GF of the coupler triangle corresponds to MO the
pivot triangle. Triangle GFC similar to triangle MOQ
The MQ 5-bar
The cognate 5-bar linkage corresponding to the
MQ 4-bar will be called the MQ 5-bar.
The OM 5-bar
The QO 5 -bar
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