The kinematic synthesis of planar motion generators in the presence of an incomplete set of finitely separated poses is the subject of this paper. Given that the planar rigid-body guidance problem in the realm of four-bar linkage synthesis can be solved exactly for up to five prescribed poses of the coupler link, any number of poses smaller than five is considered incomplete in this paper. The ...

Inspired by the bite and swallowing function of a snake’s mouth, a robot end‐effector grabbing mechanism was designed. The grabbing movement is realized by the ‘bite’ function of the bionic snake mouth actuator, and the ‘swallowing’ function insures a continuous grip on the object. To implement the continuous grip function of the new robot end‐effector, the c...

The wheel loader is modeled as a mechanical manipulator with four degrees of freedom (DOFs), which comprises a seven-bar linkage using the symbolic notation of Denavit and Hartenberg. Homogeneous transformation matrices are used to capture the spatial configuration between adjacent links. The forward kinematics method is used to formulate the kinematics equations by attaching Cartesian coordina...

The suspension basically comprises of a linkage which is a 3D mechanism SRRS (Spherical, Revolute, Revolute, Spherical). On the basis of six included angles of this four bar chain, position of kingpin axis is determined. Once the position of kingpin axis is decided corresponding steering parameters can be determined. In such complex phenomenon involving non-linear kinematics where validation of...

We consider the relationship between the lengths of the two diagonals in the four-bar planar linkage. For convex and crossing linkages one diagonal increases if, and only if, the other decreases. On the other hand, for non-convex simple linkages one diagonal increases if, and only if, the other increases. We present simple elementary proofs of this geometric property. The proofs are simpler tha...

We describe a method to store and retrieve design cases of four-bar linkages. The method abstracts relevant features from the planar curve that characterizes each linkage design, and records these features at several levels of abstraction. This allows to use a fast multi-level retrieval procedure, that successively eliminates inappropriate cases at each level. The retrieval incorporates toleran...

This paper summarizes the work done in context of an industrial research project collaboration between Italian Institute Technology and company Fameccanica Data Spa. introduces design a six bar linkage mechanism, actuated by single motor, for re-orienting aligning objects. The main application consists grasping empty bottles lying flat on input conveyor, rotating, placing them upright position ...

mechanism, elastic displacement Abstract—This paper has as main purpose to identify the dynamic components of the matrices in the motion equation, combining the motion of rigid body with the one of elastic body. The finite element modeling requires the identification of a proper procedure in order to establish accurate boundary conditions which assure continuous motion in the nodes. Finally, an...