On Planar Five-bar Motion Generation with a Driver Torque Constraint

Abstract

In motion generation, the objective is to calculate the mechanism parameters required to achieve or approximate a set of prescribed rigid-body positions. This work introduces a new design constraint that considers driving link static torque for a given rigid-body load. By incorporating this new constraint into a conventional planar five-bar motion generation model, planar five-bar mechanisms are synthesized to not only achieve prescribed rigid-body positions, but also satisfy maximum driver torque for a given rigid-body load.