Unique method for structural synthesis of the machines planed with bars and dogs

The planar mechanisms with articulated bars and gears (which we will simply note MeBaRd) are part of the general planar mechanics category. Although structural structural studies have been carried out [7], the structural synthesis of bars and wheels can be approached as a distinct problem. Some papers refer directly to a certain class of mechanisms, such as planetary mechanisms [1], [2], others stop on subsystems with zero mobility, called structural groups with toothed elements [6], [8]. In this paper, developing some ideas presented in [3], [5], a general algorithm for unitary structural synthesis of MeBaRd was developed and developed, having the input parameters: M - the degree of mobility and N - the number of contours