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Synthesis of Coupler-Drivers for Four Position Planar Synthesis Tasks

[+] Author Affiliations
David A. Perkins, Andrew P. Murray

University of Dayton, Dayton, OH

Paper No. DETC2011-48170, pp. 427-434; 8 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


A coupler-driver for a planar mechanism is a revolute-prismatic-revolute (RPR) chain connected between ground and one of the links of the mechanism. The focus of this work is to investigate how the use of a coupler-driver as the source of actuation alters the set of solutions for a four position task by avoiding defects relative to the joints of the actuated mechanism. Type maps are a synthesis tool used to visualize the solutions for the four position task, which previous researchers have used to identify the mechanism class and the ability to actuate each solution through the task. This work extends the type map concept to represent the number of solutions to a four position task that are drivable via either a coupler-driver or an input torque at one of the fixed joints. The use of a coupler-driver as the actuator is found to allow many mechanisms that suffer from a branch defect relative to the joints of the kinematic solution mechanism to be valid solutions. For the example four position tasks tested, the coupler-driver was found to expand the number of four-bar mechanism solutions. As part of this analysis, a variation of the derivation of the space of fixed and moving pivot pairs that produce a coupler-driver capable of actuating a single degree of freedom planar mechanism is presented.

Copyright © 2011 by ASME



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