A unified motion generation algorithm which combines Spatial and Planar mechanism synthesis has been a hard problem in kinematics. In this paper, we present a new method to generate planar RRRR mechanisms and spatial 5-SS mechanisms using a unified algorithm. For a generalized spatial pose problem where all the poses fall on a plane, we show that there exist 1-\$\\infty\$ plane constraint solutions and 3-\$\\infty\$ planar-spherical solution dyads. We also show that for a spatial five pose problem where all poses lie on a plane, there exists a 2-\$\\infty\$ solution space of spherical and planar constraints. This multiplicity of solutions are intelligently constrained to find upto four circle constraints representing planar four bar mechanism. Finally, examples are presented testing the proposed algorithm and verified using results from past publications.


Unified Motion Synthesis of Spatial Seven-Bar Platform Mechanisms\x0band Planar-Four Bar Mechanisms

Division / Sponsors: 
Design Engineering Division and Computers & Information In Engineering Division


Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2020/volume/83907

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