Synthesis of an NR robot with four-bar constraining modules
- Author(s): Tsuge, BY
- McCarthy, JM
- et al.
Published Web Locationhttps://doi.org/10.1115/DETC2014-35371
Copyright © 2014 by ASME. This paper uses coupler-path synthesis to design four-bar linkage modules that constrains the movement of links in an nR serial chain. The goal is to formulate a general procedure for path-synthesis of a robotic system using four-bar linkages. A desired end-effector trajectory is transformed into a secondary trajectory that is used for nine-point synthesis of a constraining four-bar linkage. This procedure constrains an nR chain to become a 4n-2 bar linkage. An example presents the constraint of a 2R chain to a six-bar that has a prescribed trajectory for an end-effector point.