Fitting Useful Planar Four-Bar and Six-Bar Linkages to Over-Specified Tasks

Tsuge, Brandon Y.; McCarthy, J. Michael

doi:10.1007/978-3-319-10723-3_18

Cited by 2 publications

(1 citation statement)

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“…A software system for the synthesis of spherical Watt I six-bar linkages based on constraining 3R open chain with randomized search in tolerance zones was designed by using SolidWorks Add-In MechGen (Sonawale et al, 2013). The design method of six-bar linkages that reach an over-specified set of task positions explained in (Tsuge and Mccarthy, 2014) expands the number of candidate linkages that approximate an over-specified task. A method of optimization of structural error in a closed kinematic chain of four-bar planar mechanism with six design parameters using the Chebyshev-Freudstein method was applied to increase the global accuracy in the mechanism (Aiswal and Jawale, 2018).…”

Section: Introductionmentioning

confidence: 99%

Watt Six-Bar Compliant Mechanism Analysis Based on Kinematic and Dynamic Responses

Uyulan

Üniversitesi

İpek

2021

SRC

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In this study, a complete guide to kinematic and kinetic analyses of a Watt type six-bar compliant mechanism is conducted incorporating the flexible buckling of the initially straight element. In the analysis procedure, the hybrid utilization of the pseudo-rigid-body model (PRBM) and the nonlinear Elastic theory of beam buckling is presented. This partially compliant mechanism comprises three rigid links and two flexible links. The kinematic analyses of the mechanisms are done by using the vector loop closure equations, the PRBM of a large deflection cantilever beam, and derivation of nonlinear algebraic equations considering the quasi-static equilibrium and load-deflection curve of the flexible parts. Each of the elastic parts makes up a buckling pinned-pinned flexible Euler beam. The vector loop equations are combined with Newton-Euler dynamic formulations to provide the simultaneous constraint matrix. After these operations, the full mechanism is simulated to get both accelerations and forces for each time step. Finally, the design method is validated through experimental results. The findings derived from the combination of buckling Elastica solution and PRBM approach enable the analysis of Watt's six-bar compliant mechanism.

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Section: Introductionmentioning

confidence: 99%

Watt Six-Bar Compliant Mechanism Analysis Based on Kinematic and Dynamic Responses

Uyulan

Üniversitesi

İpek

2021

SRC

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Synthesis and Application of a Single Degree-of-Freedom Six-Bar Linkage With Mixed Exact and Approximate Pose Constraints

Zhao

Chen

et al. 2021

Journal of Mechanical Design

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Existing research on synthesis methods for single degree-of-freedom (DOF) six-bar linkages mainly include four or five exact poses. However, an ideal trajectory cannot be synthesized using only five exact poses, thus, it is necessary to introduce additional poses to constrain the trajectory. If more exact poses are introduced, then the linkage may have no solution. Therefore, the constraints of the approximate pose are considered to make the trajectory conform to the desired trajectory. This paper successfully introduces mixed poses into a six-bar linkage, based on Z (Z<5) exact poses and K approximate poses of a given error range, and a new synthesis method for single DOF six-bar linkages is proposed. The solution domain of the linkages synthesized by this method is wide and can be adjusted by controlling the error of the approximate poses, which reduces the difficulty of selecting the solution, ensures theoretical feasibility, and enables the trajectory of the final linkage to more closely match the ideal trajectory. Finally, for the coordinated training of multiple joints in human limbs, a rehabilitation device is designed based on the above six-bar linkage, and a prototype is developed and tested. The test results reveal the accuracy of the proposed method and the effectiveness of rehabilitation training.

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Fitting Useful Planar Four-Bar and Six-Bar Linkages to Over-Specified Tasks

Cited by 2 publications

References 10 publications

Watt Six-Bar Compliant Mechanism Analysis Based on Kinematic and Dynamic Responses

Watt Six-Bar Compliant Mechanism Analysis Based on Kinematic and Dynamic Responses

Synthesis and Application of a Single Degree-of-Freedom Six-Bar Linkage With Mixed Exact and Approximate Pose Constraints

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