Dimensional synthesis of motion generation of a planar four-bar mechanism

• Wenrui Liu ^[1] ; Xiankun Qu ^[2] ; Bo Li ^[1] ; Tao Qin ^[1] ; Jianwei Sun ^[2]
  1. [1] School of Mechanical Engineering, Hubei University of Arts and Sciences, Xiangyang, China
  2. [2] School of Mechatronic Engineering, Changchun University of Technology, Changchun, China
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 53, Nº. 2, 2025, págs. 1201-1227
• Idioma: inglés
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• Resumen

  • A motion generation method for a planar four-bar mechanism without prescribed timing is proposed in this article. A characteristic of coupler points is found: for the coupler points of a four-bar mechanism in a standard installation position rotated by the corresponding input angle clockwise around the origin of the Cartesian coordinate system xOy, the generated points lie on the feature coupler circles. Next, based on this, the design process is divided into three steps. In the first step, the relative input angles, the relative coupler angles and five geometric parameters of the desired four-bar mechanism are optimized. In the second step, the basic dimensional types and initial input angle are determined, and then, the input angles are obtained. In the third step, the real size of the desired linkage mechanism is calculated. Because the dimension of the design variables in each step is exceptionally small, the motion synthesis method can yield design solutions with high precision in a short time. Six comparison examples are presented to demonstrate the efficacy of the proposed method. In addition, the method is used to design a robot for lower limb rehabilitation for application to the human foot.