Dimensional synthesis of six-bar Stephenson II linkage for fifteen precision points path generation

This paper presents the dimensional synthesis of a planar six-bar Stephenson II linkage having single degree of freedom with rotational constraints. The objective of the synthesis is to determine all the link lengths with their orientations of the linkage that is capable to follow the path specified by fifteen precision points. The analytical loop closure equations are formed using dyad and triad technique by means of complex number mathematics for path generation. These equations are solved simultaneously for fifteen displacement positions of coupler tracing point to determine various link lengths with their corresponding orientations. The displacement vector and coupler link motion are the prescribed parameters. The effectiveness of mechanism synthesis has been demonstrated on a numerical example. The solution of loop closure equations has been obtained using a MATLAB code. Finally, the determined link lengths with their orientations have been verified using SAM software