Exact Synthesis of a 1-dof Planar Linkage for Visiting 10 Poses

Abstract

It is well known that a four-bar linkage is able to visit exactly 5 poses. An interesting problem of synthesis is to obtain 1-dof linkages for visiting more than five poses. In this paper, an approach of 1-dof linkage synthesis is proposed by constraining planar parallel mechanism. A solution of 13-revolute-joint linkage is thus obtained, which is able to visit exactly maximum 10 poses. The problem formulation is provided, with a synthesis example included.