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Planar Motion Generation Incorporating a 6-Link Mechanism and Non-Circular Elements

[+] Author Affiliations
Javier Roldán-Mckinley, Carl Crane, III, Jean-Francois Kammath

University of Florida, Gainesville, FL

David B. Dooner

University of Puerto Rico at Mayagüez, Mayagüez, Puerto Rico

Paper No. DETC2005-85315, pp. 393-403; 11 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


This work is a specific application of a particular one degree of freedom six-link geared planar mechanism. A procedure to synthesize non-circular gear pitch profiles to generate any prescribed function of position and orientation in a determined range is presented. The geometry of the mechanism, i.e. the link lengths of the six-bar mechanisms, is assumed known. The input parameters are the prescribed path, the orientation angle at each position along the path, and the interval along which the motion is required. A generic function y = f(x) = ax2 + bx + c, in a particular interval of x, was used to define the desired path. The desired orientation of the coupler link was specified as being tangent to the path at each point. An analysis was performed and complete non-circular profiles were successfully synthesized. Numerical examples are presented.

Copyright © 2005 by ASME
Topics: Motion , Mechanisms



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