Abstract
It is well known that a four-bar linkage is able to visit exactly 5 poses. An interesting problem of synthesis is to obtain 1-dof linkages for visiting more than five poses. In this paper, an approach of 1-dof linkage synthesis is proposed by constraining planar parallel mechanism. A solution of 13-revolute-joint linkage is thus obtained, which is able to visit exactly maximum 10 poses. The problem formulation is provided, with a synthesis example included.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
R.S. Hartenberg and J. Denavit. Kinematic Synthesis of Linkages. McGraw-Hill, New York, 1964.
K. H. Hunt. Kinematic Geometry of Mechanisms. Oxford University Press, New York, 1978.
O. Bottema and B. Roth. Theoretical Kinematics. North-Holland Pub. Co., New York, 1979.
J. M. McCarthy and G. S. Soh. Geometric Design of Linkages. Springer, New York, 2011.
K. Al-Widyan, J. Angeles, and J. J. Cervantes-Sánchez. A numerical robust algorithm to solve the five-pose Burmester problem. In Proc. ASME DETC2002, Montreal, #MECH-34270, 2002.
G. N. Sandor and A. G. Erdman. Advanced Mechanism Design: Analysis and Synthesis, volume 2. Prentice-Hall, Inc., New Jersey, 1984.
B. Ravani and B. Roth. Motion synthesis using kinematic mappings. ASME Journal of Mechanism, Transmissions, and Automation in Design, 105:460–467, 1983.
S. Bai, D. Wang, and H. Dong. A unified formulation for dimensional synthesis of Stephenson linkages. ASME Journal of Mechanisms and Robotics, 8(4):041009, 2016.
C. W. McLarnan. Synthesis of six-link plane mechanisms by numerical analysis. ASME Journal of Engineering for Industry, 85(1):5–10, 1963.
H.S. Kim, S Hamid, and A.H. Soni. Synthesis of six-link mechanisms for point path generation. Journal of Mechanisms, 6(4):447–461, 1972.
G. S. Soh and J. M. McCarthy. The synthesis of six-bar linkages as constrained planar 3R chains. Mechanism and Machine Theory, 43(2):160 – 170, 2008.
Y. Liu and J. McPhee. Automated kinematic synthesis of planar mechanisms with revolute joints. Mechanics Based Design of Structures and Machines, 35(4):405– 445, 2007.
S. Bai. Dimensional synthesis of six-bar linkages with incomplete data set. In Proc. 5th European Conference on Mechanism Science, September 16-20th, 2014, Guimarães, Portugal, pages 1–8, 2014.
P.W. Jensen. Synthesis of four-bar linkages with a coupler point passing through 12 points. Mechanism and Machine Theory, 19:149–156, 12 1984.
G. Soh and F. Ying. Dimensional synthesis of planar eight-bar linkages based on a parallel robot with a prismatic base joint. In Proc. of ASME. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pages DETC2013–12799, 2013.
C. Chen and J. Angeles. A novel family of linkages for advanced motion synthesis. Mechanism and Machine Theory, 43(7):882–890, 2008.
Chung, W.-Y. Synthesis of two four-bar in series for body guidance. MATEC Web Conf., 95:04006, 2017. Exact synthesis of 1-dof Linkage.
H. A. Suárez-Velásquez, J. J. Cervantes-Sánchez, and J. M. Rico-MartÃnez. Synthesis of a novel planar linkage to visit up to eight poses. Mechanics Based Design of Structures and Machines, 46(6):781–799, 2018.
C. W. Wampler, A. P. Morgan, and A. J. Sommese. Numerical continuation methods for solving polynomial systems arising in kinematics. ASME Journal of Mechanical Design, 112(1):59–68, 1990.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Bai, S. (2019). Exact Synthesis of a 1-dof Planar Linkage for Visiting 10 Poses. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_127
Download citation
DOI: https://doi.org/10.1007/978-3-030-20131-9_127
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20130-2
Online ISBN: 978-3-030-20131-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)