Identification of a usable six-bar linkage for dimensional synthesis

In this paper we present an algorithm to determine if a six-bar linkage that has been designed as a constrained 3R chain using Burmester Theory is usable. A usable six-bar linkage is one that moves a workpiece smoothly through a given set of task positions with actuation by one joint parameter. Our algorithm is a two-step process. First the linkage is assembled in each of the task positions and is verified to have the same assembly configuration. Next, a numerical solution of the linkage is tracked between each task position and the assembly is verified to lie on the same branch of one coupler curve.A six-bar linkage that passes this two-part test is usable. An example using Mathematica demonstrates that this computation can be used to automatically evaluate a large number of design candidates. © Springer Science+Business Media Dordrecht 2013