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A novel approach for the rigid body guidance synthesis of planar RRPR linkages
Selma J. Rodríguez-González,Henry A. Suárez-Velásquez,J. Jesús Cervantes-Sánchez,José M. Rico-Martínez 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.2
This paper demonstrates that the maximum number of poses that can be exactly reached by a planar RRPR linkage is four, while the design for five poses requires the relaxation of displacement constraints at one prescribed pose. To this end, a novel and explicit condition for the synthesis of RP dyads with five prescribed poses is correspondingly introduced. It leads to a new and efficient approach to synthesize planar RRPR linkages, which is equipped with a branching identification procedure. Two successful case studies are provided to validate the applicability of the proposed synthesis approach.