Planar Motion Generation Incorporating a 6-Link Mechanism and Non-Circular Elements

摘要

This work is a specific application of a particular one degree of freedom six-link geared planar mechanism. A procedure to synthesize non-circular gear pitch profiles to generate any prescribed function of position and orientation in a determined range is presented. The geometry of the mechanism, i.e. the link lengths of the six-bar mechanisms, is assumed known. The input parameters are the prescribed path, the orientation angle at each position along the path, and the interval along which the motion is required. A generic function y = f(x) = ax~2 + bx + c, in a particular interval of x, was used to define the desired path. The desired orientation of the coupler link was specified as being tangent to the path at each point. An analysis was performed and complete non-circular profiles were successfully synthesized. Numerical examples are presented.