In this paper, we design planar nR serial chains that provide one degree-of-freedom movement for an end-effector through five arbitrarily specified task positions. These chains are useful for deployment linkages or the fingers of a mechanical hand. The trajectory of the end-effector pivot is controlled by n-1 sets of cables that are joined through a planetary gear system to two input variables....

This paper describes a case-study which illustrates the capabilities of a commercially available software package called SyMech, which runs within Pro/ENGINEER. The software allows a designer to synthesize arbitrarily complex planar mechanisms by sequentially specifying one of three basic mechanism design functions: position, path, or angle. Because the software runs directly within Pro/ENGINEE...

This paper describes fundamental principles for two dimensional pattern design of folded robots, specifically mobile robots consisting of closed-loop kinematic linkage mechanisms. Three fundamental methods for designing closed-chain folded four-bar linkages – the basic building block of these devices – are introduced. Modular connection strategies are also introduced as a method to overcome the...

A complete approach for the search of top-quality six-bar linkages based on four-bar generating coupler curves with circular regions has been developed. The includes a robust algorithm to high-accuracy in and fitness function able evaluate quality resulting linkage. is used explore design space order optimal dwell identify types that provide best dwells according established criteria. Then, glo...

This paper presents the dynamic analysis and kinematic parameter optimization of a coupled linkage system for the purpose of employing the system in construction industry. So far, the kinematic optimization of wheel loaders was approached heuristically rather than utilizing elaborate theoretical examinations due to the complexity of coupled linkage structures. The results of the theoretical ana...