Abstract
For repetitive material-handling operations in various industries, fixed automation using single-degree-of-freedom mechanisms can often serve as a low-cost alternative to multi-degrees-of-freedom robots. Therefore, developing design procedures for inexpensive fixed automation solutions may be highly relevant in the context of developing as well as underdeveloped economies. A design methodology to analytically synthesise a planar pick-and-place system for displacement and velocity requirements using a planar four-bar mechanism is carried out in this work. A methodology to establish the availability of kinematic defect-free solutions in terms of two free design parameters is also proposed and illustrated with a numerical example.
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Notes
- 1.
Vectors expressed as a pair of real numbers are represented in bold fonts, while those expressed as complex numbers are not.
- 2.
All the angles, namely, \(\phi , \lambda \) and \(\mu \), are represented in radians and the units are omitted.
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Baskar, A., Bandyopadhyay, S. (2019). An Exact Synthesis of Pick-and-Place Mechanisms Using a Planar Four-Bar Linkage. In: Badodkar, D., Dwarakanath, T. (eds) Machines, Mechanism and Robotics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8597-0_13
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DOI: https://doi.org/10.1007/978-981-10-8597-0_13
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