Abstract
In this chapter, we will formulate the systematic design of multiloop planar linkages in a way that combines with traditional robotics and four-bar linkage synthesis theory to obtain innovative articulated robotic systems. First, we will show how mechanical constraints can be introduced to a planar 3R serial chain to guide the movement of its end effector through a set of five specified task positions to obtain a six-bar linkage, as illustrated in Figure 6.1.
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© 2011 Springer New York
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McCarthy, J.M., Soh, G.S. (2011). Multiloop Planar Linkages. In: Geometric Design of Linkages. Interdisciplinary Applied Mathematics, vol 11. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-7892-9_6
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DOI: https://doi.org/10.1007/978-1-4419-7892-9_6
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Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4419-7891-2
Online ISBN: 978-1-4419-7892-9
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