Abstract
This study provides a structural and kinematic analysis of the shaper linkage, which includes a four-bar Assur group with three levers. The linkage structural analysis has been carried out in three cases when different driving links have been chosen. A four-bar Assur group has been separated out from the linkage’s structure in the first case, and dyads PRP, RRR, and RPR have been separated out in the second and third cases. The kinematic analysis of the shaper linkage has been carried out for the case when a four-bar Assur group forms a part of its composition. The study provides 3D modeling of the shaper linkage with reproduced trajectories and coordinates data of the distinguished points of movable links with the regard to specified dimensions. The results of the study can be used in kinetostatic and dynamic analysis of the shaper linkage. The research results can be also applied in a design of planing machines and shaper linkages as well as in structural synthesis and analysis of novel planar mechanisms.
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