This work formulates and demonstrates a motion generation method for the synthesis of a particular type of planar six-bar mechanism-the Watt I mechanism. The Watt I mechanism is essentially a "stacked" four-bar mechanism (having two closed loops and a single degree of freedom). Extending the planar motion generation method of Suh and Radcliffe  to incorporate relative motion between moving pivots, Watt I mechanisms are synthesized to simultaneously approximate two groups of prescribed rigid-body poses for simultaneous dual motion generation capability. The example included demonstrates the synthesis of a finger mechanism to achieve a prescribed grasping pose sequence.
|Original language||English (US)|
|Number of pages||11|
|Journal||Transactions of the Canadian Society for Mechanical Engineering|
|State||Published - 2008|
All Science Journal Classification (ASJC) codes
- Mechanical Engineering