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Dimensional Synthesis of Planar Eight-Bar Linkages Based on a Parallel Robot With a Prismatic Base Joint

[+] Author Affiliations
Gim Song Soh

Singapore University of Technology and Design, Singapore

Fangtian Ying

Zhejiang University, Hangzhou, Zhejiang, China

Paper No. DETC2013-12799, pp. V06AT07A051; 8 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6A: 37th Mechanisms and Robotics Conference
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5593-5
  • Copyright © 2013 by ASME


This paper details the dimensional synthesis for the rigid body guidance of planar eight-bar linkages that could be driven by a prismatic joint at its base. We show how two RR cranks can be added to a planar parallel robot formed by a PRR and 3R serial chain to guide its end-effector through a set of five task poses. This procedure is useful for designers who require the choice of ground pivot locations. The results are eight different types of one-degree of freedom planar eight-bar linkages. We demonstrate the design process with the design of a multifunctional wheelchair that could transform its structure between a self-propelled wheelchair and a walking guide.

Copyright © 2013 by ASME
Topics: Robots , Linkages



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