Stephenson Chain Branch Analysis: Four Generic Stationary Configurations and One New Linkage Polynomial

The stationary configurations of the Stephenson linkages have been defined in the literature. All stationary configurations of the Stephenson six-bars are mapped to the Stephenson III linkage inversion and represented as four ‘generic’ stationary configurations. A graphical interpretation of these stationary configurations is presented. It may be used to determine these stationary configurations. Analytical solutions of the first two generic stationary configurations are referenced. A twentieth order polynomial, whose roots correspond to the third generic stationary configuration, is derived and discussed.