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Synthesis and Analysis of a Chebyschev’s Straight Line Four-Bar Linkage for Generating a Minimum Jerk Velocity Profile

[+] Author Affiliations
Evagoras G. Xydas

University of Cyprus, Nicosia, Cyprus

Paper No. DETC2014-35510, pp. V05AT08A075; 8 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


The interaction between human and passive, constraint-based path generating mechanisms has been scarcely studied. When it comes to rehabilitation robots, output trajectories and/or forces are achieved mainly as a result of actuation on all joints, since they form an open kinematic chain. On the other end, there exists a wide range of mechanisms that can trace complex trajectories primarily due to mechanical constraints in their topology and structure. Probably the simplest example is the four bar linkage, a widely used 1-DOF mechanism. It consists of a driving link, a driven link, and a coupler which connects the two. As the input link rotates, each point on the coupler link traces a unique trajectory in space, called a coupler curve. Ideally, the linkage dimensions can be chosen so that a near-natural hand trajectory is generated for a specific task. As a first step, in this work a straight line generating four-bar mechanism, namely the Chebyshev’s linkage is considered for generating a natural bell-shaped velocity profile, as prescribed by the Minimum-Jerk-Model. Initially the mechanism is synthesized for producing a straight line trajectory of a desired length. Kinematic and kinetostatic analysis is performed in order to determine the required input torque necessary for achieving the desired spatio-temporal profile. The main objective is to determine whether this input torque can approximated by a series of linear torsional springs that can be installed on the pivoted side of the input link.

Copyright © 2014 by ASME
Topics: Linkages



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