Robomech-II: a stack of two four-bar mechanisms for dual-function task applications

Abstract

This paper presents Robomech-II, the second in a new class of linkage arms called Robomechs. A robomech is a parallel architecture arm. It represents an inter-marriage between a mechanism and a robot, devised to perform coordinated multi-function tasks. In particular, Robomech-II is formed of a stack of two four-bar (4R) linkages. It requires two independently actuated joints to perform a specific dual-function task. In this paper, the features of Robomech-II are discussed, a procedure for its synthesis is outlined and an application example is given.