Exact synthesis and input–output analysis of 1-dof planar linkages for visiting 10 poses

Shaoping Bai; Zhongyi Li; Ruiqin Li

doi:10.1016/j.mechmachtheory.2019.103625

Exact synthesis and input–output analysis of 1-dof planar linkages for visiting 10 poses

Shaoping Bai^*, Zhongyi Li, Ruiqin Li

^*Corresponding author for this work

Research output: Contribution to journal › Journal article › Research › peer-review

15 Citations (Scopus)

Abstract

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.

Original language	English
Article number	103625
Journal	Mechanism and Machine Theory
Volume	143
ISSN	0094-114X
DOIs	https://doi.org/10.1016/j.mechmachtheory.2019.103625
Publication status	Published - Jan 2020

Keywords

10-pose synthesis problem
Exact motion synthesis
Input–output analysis
Planar parallel mechanism
Polynomial equations

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title = "Exact synthesis and input–output analysis of 1-dof planar linkages for visiting 10 poses",

abstract = "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.",

keywords = "10-pose synthesis problem, Exact motion synthesis, Input–output analysis, Planar parallel mechanism, Polynomial equations",

author = "Shaoping Bai and Zhongyi Li and Ruiqin Li",

year = "2020",

month = jan,

doi = "10.1016/j.mechmachtheory.2019.103625",

language = "English",

volume = "143",

journal = "Mechanism and Machine Theory",

issn = "0094-114X",

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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

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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 -

Exact synthesis and input–output analysis of 1-dof planar linkages for visiting 10 poses

Abstract

Keywords

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