Synthesis of Rigid-Body Guidance Mechanism with Path and Pose Generation Independently

Abstract

This paper proposes a practical method for the synthesis of rigid-body guidance mechanism by dividing the guidance task into path and pose generation independently. As a first step, based on the mechanism combination principle, a basic four-bar mechanism for path generation is synthesized and a binary-link is combined to the mechanism for achieving the execute link’s poses, then the potential kinematic chain with ability to realize the desired coupler poses is selected from all of the combination possibilities. And then a strategy by fixing a Cam to the basic four-bar mechanism to control the linkage poses is also proposed. Finally, the Cam’s profile is synthesized and the combined cam-link mechanism is able to guide the coupler through all desired linkage positions. One example is presented to validate the proposed guidance mechanism synthesis method.