In this paper, we formulated a systematic design methodology for the design of planar six- and eight-bar slider mechanisms for motion generation applications that require more complex motion than the slider–crank mechanism. We show how two RR dyads can be synthesized and attached to planar PRR and PRR–3R chain for the dimensional synthesis of planar six- and eight-bar slider mechanisms, respectively. The results are 15 different types of one degree-of-freedom planar six- and eight-bar linkages with a prismatic joint at its base. 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 meant for outpatient rehabilitation purpose.
Motion Generation of Planar Six- and Eight-Bar Slider Mechanisms as Constrained Robotic Systems
Manuscript received June 19, 2014; final manuscript received January 30, 2015; published online May 12, 2015. Assoc. Editor: Philippe Wenger.
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Song Soh, G., and Ying, F. (August 1, 2015). "Motion Generation of Planar Six- and Eight-Bar Slider Mechanisms as Constrained Robotic Systems." ASME. J. Mechanisms Robotics. August 2015; 7(3): 031018. https://doi.org/10.1115/1.4029833
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