The kinematic synthesis of planar linkage mechanisms has traditionally been broken into the categories of motion, path, and function generation. Each of these categories of problems has been solved separately. Many problems in engineering practice require some combination of these problem types. For example, a problem requiring coupler points and/or poses in addition to specific input and/or output link angles that correspond to those positions. A limited amount of published work has addressed some specific underconstrained combinations of these problems. This paper presents a general graphical method for the synthesis of a four bar linkage to satisfy any combination of these exact synthesis problems that is not overconstrained. The approach is to consider the constraints imposed by the target positions on the linkage through the poles and rotation angles. These pole and rotation angle constraints (PRCs) are necessary and sufficient conditions to meet the target positions. After the constraints are made, free choices which may remain can be explored by simply dragging a fixed pivot, a moving pivot, or a pole in the plane. The designer can thus investigate the family of available solutions before making the selection of free choices to satisfy other criteria. The fully constrained combinations for a four bar linkage are given and sample problems are solved for several of them.
Skip Nav Destination
Article navigation
April 2018
Design Innovation Paper
Planar Linkage Synthesis for Mixed Motion, Path, and Function Generation Using Poles and Rotation Angles1
Ronald A. Zimmerman, II
Ronald A. Zimmerman, II
Mem. ASME
Product Engineering Specialist
Research and Development,
Magna Seating,
Troy, MI 48098
e-mail: ron.zimmerman@magna.com
Product Engineering Specialist
Research and Development,
Magna Seating,
Troy, MI 48098
e-mail: ron.zimmerman@magna.com
Search for other works by this author on:
Ronald A. Zimmerman, II
Mem. ASME
Product Engineering Specialist
Research and Development,
Magna Seating,
Troy, MI 48098
e-mail: ron.zimmerman@magna.com
Product Engineering Specialist
Research and Development,
Magna Seating,
Troy, MI 48098
e-mail: ron.zimmerman@magna.com
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 13, 2017; final manuscript received January 2, 2018; published online February 5, 2018. Assoc. Editor: Andrew P. Murray.
J. Mechanisms Robotics. Apr 2018, 10(2): 025004 (8 pages)
Published Online: February 5, 2018
Article history
Received:
September 13, 2017
Revised:
January 2, 2018
Citation
Zimmerman, R. A., II (February 5, 2018). "Planar Linkage Synthesis for Mixed Motion, Path, and Function Generation Using Poles and Rotation Angles." ASME. J. Mechanisms Robotics. April 2018; 10(2): 025004. https://doi.org/10.1115/1.4039064
Download citation file:
Get Email Alerts
Design of Rolling Motion for Snake-like Robots using Center-of-Gravity (COG) Shift
J. Mechanisms Robotics
Modelling and Control of Cable Driven Exoskeleton for Arm Rehabilitation
J. Mechanisms Robotics
Design of an underactuated, flexure-based gripper, actuated through a push-pull flexure
J. Mechanisms Robotics
Related Articles
An Application of Yaglom's Geometric Algebra to Kinematic Synthesis of Linkages for Prescribed Planar Motion of Oriented Lines
J. Mech. Des (March,2018)
Synthesis of Six-Bar Timed Curve Generators of Stephenson-Type Using Random Monodromy Loops
J. Mechanisms Robotics (February,2021)
Synthesis of Watt-Type Timed Curve Generators and Selection From Continuous Cognate Spaces
J. Mechanisms Robotics (October,2021)
Geometric Method of Spatial Linkages Synthesis for Function Generation With Three Finite Positions
J. Mech. Des (August,2018)
Related Proceedings Papers
Related Chapters
Reduction of Voltage Harmonic in PM Wind Generator Based on Pole Width Modulation Method
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
Research on Land Use in Enping Industry Transfer Zone in Guangdong Province
International Conference on Computer Technology and Development, 3rd (ICCTD 2011)
Modeling Spatial Structure of Urban Pole-Axis System by Fractal Theory
International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)