Harnessing elastic energy to overcome singularity issues in four-bar mechanisms with a crank link

The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the elastic potential energy of a linear spring attached coupler link four-bar mechanisms manipulate force singularities. We developed theoretical model explore parameter space for proper in slider-crank and rocker-crank kinematics. Finally, verified proposed methodology building testing macro-scale prototype mechanism. expect this approach enable development small-scale engines robotic devices with closed chains dealing serial singularities, such as parallel manipulators.