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Dimensional Synthesis of Planar Six-Bar Linkages by Mechanically Constrain a PRR Serial Chain

[+] Author Affiliations
Gim Song Soh

Singapore University of Technology and Design, Singapore

Fangtian Ying

Zhejiang University, Hangzhou, Zhejiang, China

J. Michael McCarthy

University of California, Irvine, Irvine, CA

Paper No. DETC2012-70721, pp. 551-557; 7 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


In this paper, we consider the problem of designing planar six-bar linkages which can be driven by prismatic joints at its base. We explore various ways on how two RR chains can be used to constraint a PRR planar serial chain such that the system yields one-degree of freedom yet passes through a set of five specified task positions. We formulate and solve the design equations as well as analyze the resulting planar six-bar linkage. We demonstrate the synthesis process with the design of the seat of a wheelchair such that it is able to transform itself to be used as a rehabilitation guide during rehabilitation.

Copyright © 2012 by ASME
Topics: Linkages , Chain



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