Abstract
The paper proposes a method for the synthesis of cam-integrated six-bar linkages (cammed-linkage) for tasks of exact rigid-body guidance. As a first step, a three degrees of freedom (d.o.f.) six-bar linkage is generated. Two cam-follower mechanisms are then synthesized in order to reduce the system’s mobility and to obtain a single-input cammed-linkage. The final combined mechanism is able to rigidly guide the coupler through any number of precision configurations. A strategy for the optimization of the synthesis process, based on evolutionary theory, is also proposed. Dimensional and kinematic performance criteria and constraints are used to define a goal function, while a genetic algorithm is employed as optimum searching procedure. Two examples of motion generation problems are used to describe the proposed synthesis methodology and to prove, through kinematic simulations, its effectiveness.
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