Dimensional Synthesis of Six-Bar Linkage as a Constrained RPR Chain
In this paper, five positions of a planar RPR serial chain are specified and the synthesis equations for two RR constraints are solved to obtain a six-bar linkage. Analysis of the resulting linkage determines if it moves the end-effector smoothly through the five task positions without a branch defect. The design procedure presented randomly selects variations to the positions of the RPR chain in order to obtain new six-bar linkages. This dimensional synthesis algorithm yields a set of six-bar linkages that move the end-effector near the original task positions. This synthesis procedure is applied to the design of a linkage that generates a square pattern. The procedure yielded 122 defect-free linkages for one million iterations.
KeywordsLinkage synthesis Six-bar linkage synthesis RPR chain Defect-free synthesis
The authors acknowledge the support of the National Science Foundation and the assistance of the reviewers. Special thanks to Kevin Hung for executing the design of the screw insertion linkage.
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