Abstract
Motion synthesis of planar linkages is a classic problem that has been extensively studied in the literature. It is well known that a four-bar linkage is able to visit exactly up to five 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 multi-dof planar parallel mechanisms. With this approach, single-dof ten-bar linkages able to visit exactly maximum 10 poses are obtained. A synthesis method is developed for this type of new linkages. Input–output (IO) equation is derived for its position analysis. Illustrative examples of both synthesis and analysis of this type of 1-dof linkages are included.
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