Research Papers

Planar Four-Bar Motion Generation With Static Structural Conditions

[+] Author and Article Information
Yahia M. Al-Smadi

Special Structures Group, AECOM, New York, NY 10005yahia.al-smadi@aecom.com

Kevin Russell

Armament Engineering and Technology Center, US Army Research Development and Engineering Center, Picatinny, NJ 07806kevin.russell1@us.army.mil

Raj S. Sodhi

Department of Mechanical Engineering, New Jersey Institute of Technology, Newark, NJ 07102rajpal.s.sodhi@njit.edu

J. Mechanisms Robotics 1(3), 031009 (Jul 14, 2009) (6 pages) doi:10.1115/1.3147191 History: Received June 18, 2008; Revised February 15, 2009; Published July 14, 2009

A planar four-bar motion generation model that also includes static structural conditions is formulated and demonstrated in this work. Using this model, planar four-bar motion generators are also synthesized with respect to static torque, deflection constraints, and buckling constraints for a given rigid-body load.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 1

(a) Prescribed rigid-body poses and (b) calculated planar four-bar mechanism

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Figure 2

Four-bar traveler braking mechanisms

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Figure 3

Statically determinant planar four-bar mechanism

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Figure 4

Planar four-bar mechanism (a) in static equilibrium, (b) with reaction loads Ra0 and Rb0, and (c) with reaction loads Ra1

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Figure 5

Synthesized planar four-bar motion generator

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Figure 6

Rigid-body differences (between prescribed and achieved poses) for synthesized mechanism

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Figure 7

Synthesized mechanism for each approximated pose (prescribed poses shown as dashed lines)




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