Structural–Parametric Synthesis of the Planar Four-Bar and Six-Bar Function Generators With Revolute Joints
Baigunchekov Z. Laribi M.A. Carbone G. Kaiyrov R. Tolenov S. Dosmagambet N.
1 September 2024American Society of Mechanical Engineers (ASME)
Journal of Mechanisms and Robotics
2024#16Issue 9
This paper studies a structural–parametric synthesis of the four-bar and Stephenson II, Stephenson III A, and Stephenson III B six-bar function generators. A four-bar function generator is formed by connecting two coordinate systems with given angles of rotation using a negative closing kinematic chain (CKC) of the RR type. Six-bar function generators are formed by connecting two coordinate systems using two CKCs: a passive CKC of the RRR type and a negative CKC of the RR type. The negative CKC of the RR type imposes one geometrical constraint to the relative motion of the links, and its geometric parameters are defined by least-squares approximation. Passive CKC of the RRR type does not impose a geometrical constraint, and the geometric parameters of its links are varied to satisfy the geometrical constraint of the negative CKC. Numerical results of the four-bar and six-bar function generators parametric synthesis are presented.
analysis , function generator , least-square approximation , mechanism design , mechanism synthesis , structural–parametric synthesis
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Al-Farabi Kazakh National University, Almaty, 050040, Kazakhstan
Department of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR, 3346, Poitiers, 86000, France
DIMEG, University of Calabria, Via Bucci Cubo 45C, Rende, 87036, Italy
Karaganda Buketov University, Laboratory of Applied Mechanics and Robotics, Karaganda, 100001, Kazakhstan
Al-Farabi Kazakh National University
Department of GMSC
DIMEG
Karaganda Buketov University
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