In order to solve the limitation of cylindrical geared linkage in trajectory realization, this paper make the non-circular gear pair and double crank hinge five-bar as closed combination, and to probe the feasibility and method of designing non-circular gear based on the given position points in five-bar linkage trajectory region. The discrete rotation angle sequences of non-circular gear pair ...

Two degree-of-freedom (2-DOF) closed spatial linkages can be useful in the design of robotic devices for spatial rigid-body guidance or manipulation. One of the simplest linkages of this type, without any passive DOF on its links, is the revolutespherical-revolute-spherical (RSRS) four-bar spatial linkage. Although the RSRS topology has been used in some robotics applications, the kinematics st...

Four-bar linkage mechanisms produced by many designers of knee joints for trans-femoral prostheses can provide knee rotation to permit walking only. In Afro-Asian countries people are accustomed to a squatting posture in their daily activities. A six-bar linkage knee-ankle mechanism trans-femoral prosthesis is described which was developed and fitted to an amputee. The motion patterns of the an...

The subject of this paper is a special class of closedchain manipulators. First, we analyze a family of twodegree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the “inverse kinematics” and the “direct kinematics” matrices. It is shown that the loci of points of the wo...

Kinematic chains made from links whose lengths and twist angles satisfy a certain proportionality rule are considered. A notion of exchange symmetry for the any such chain affords new understanding mobility well-known overconstrained mechanisms, exemplified by Bennett’s four-bar linkage, provides unifying framework explaining recently discovered class nontrivial underconstrained mechanisms. The...