Planar Four-Bar Motion Generation with Prescribed Static Torque and Rigid-Body Reaction Force#

Abstract

In motion generation, the objective is to calculate the mechanism parameters required to achieve or approximate a set of prescribed rigid-body poses. 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 conventional planar four-bar motion generation models (Sandor and Erdman, 1984; Suh and Radcliffe 1978), planar four-bar mechanisms are synthesized to achieve not only prescribed rigid-body poses, but also to satisfy prescribed driver static torque for a given rigid-body load. The included example demonstrates the synthesis of a four-bar braking mechanism.