Synthesis of an NR Robot With Four-Bar Constraining Modules

Abstract

This paper uses coupler-path synthesis to design four-bar linkage modules that constrains the movement of links in an nR serial chain. The goal is to formulate a general procedure for path-synthesis of a robotic system using four-bar linkages. A desired end-effector trajectory is transformed into a secondary trajectory that is used for nine-point synthesis of a constraining four-bar linkage. This procedure constrains an nR chain to become a 4n-2 bar linkage. An example presents the constraint of a 2R chain to a six-bar that has a prescribed trajectory for an end-effector point.

Synthesis of a 10-Bar Linkage to Guide the Gait Cycle of the Human Leg

“…Our goal is to extend the work by Tsuge and McCarthy [18] by constraining a 3R chain with four bar linkages using path synthesis. Similar procedures for constraining serial chains have [19] - [20] for motion generation.…”