This paper considers the relationship between the three-position motion generation problem and the solution space for planar four-bar mechanisms. After one half of the basic four bar had been selected, two infinities of solutions still remained. These solutions are mapped in a plane to determine where the particular types of mechanisms occur. A contour is then generated in the mapping plane which joins together all solutions which share a common characteristic in regard to their link lengths. This same contour can be displayed in the solution space and in the Cartesian plane in which the motion generation is defined.
C. R. Barker and J. Baumann, "CHARACTERISTIC SURFACES FOR THREE-POSITION MOTION GENERATION WITH PLANAR FOUR-BAR MECHANISMS.," Journal of mechanisms, transmissions, and automation in design, vol. 109, no. 2, pp. 183 - 188, American Society of Mechanical Engineers, Jan 1987.
The definitive version is available at https://doi.org/10.1115/1.3267436
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01 Jan 1987