TY - JOUR
T1 - Exact synthesis and input–output analysis of 1-dof planar linkages for visiting 10 poses
AU - Bai, Shaoping
AU - Li, Zhongyi
AU - Li, Ruiqin
PY - 2020/1
Y1 - 2020/1
N2 - Motion synthesis of planar linkages is a classic problem that has been extensively studied in the literature. It is well known that a four-bar linkage is able to visit exactly up to five poses. An interesting problem of synthesis is to obtain 1-dof linkages for visiting more than five poses. In this paper, an approach of 1-dof linkage synthesis is proposed by constraining multi-dof planar parallel mechanisms. With this approach, single-dof ten-bar linkages able to visit exactly maximum 10 poses are obtained. A synthesis method is developed for this type of new linkages. Input–output (IO) equation is derived for its position analysis. Illustrative examples of both synthesis and analysis of this type of 1-dof linkages are included.
AB - Motion synthesis of planar linkages is a classic problem that has been extensively studied in the literature. It is well known that a four-bar linkage is able to visit exactly up to five poses. An interesting problem of synthesis is to obtain 1-dof linkages for visiting more than five poses. In this paper, an approach of 1-dof linkage synthesis is proposed by constraining multi-dof planar parallel mechanisms. With this approach, single-dof ten-bar linkages able to visit exactly maximum 10 poses are obtained. A synthesis method is developed for this type of new linkages. Input–output (IO) equation is derived for its position analysis. Illustrative examples of both synthesis and analysis of this type of 1-dof linkages are included.
KW - 10-pose synthesis problem
KW - Exact motion synthesis
KW - Input–output analysis
KW - Planar parallel mechanism
KW - Polynomial equations
UR - http://www.scopus.com/inward/record.url?scp=85072892413&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2019.103625
DO - 10.1016/j.mechmachtheory.2019.103625
M3 - Journal article
SN - 0094-114X
VL - 143
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
M1 - 103625
ER -