Skip to main content
SpringerLink
Log in

Structural-Parametric Synthesis of Path Generating Mechanisms

  • Conference paper
  • First Online:
Advances in Mechanism and Machine Science (IFToMM WC 2023)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 147))

Included in the following conference series:

  • 625 Accesses

Abstract

This paper presents a structural-parametric synthesis of the four-bar and Stephenson I, Stephenson II, Stephenson III six-bar path generating mechanisms. Four-bar path generator is formed by connecting the output point and the base using an active closing kinematic chain (CKC) with two DOF and a negative CKC of the type RR. The six-bar path generating mechanisms are formed by connecting the output point and the base by active, passive and negative CKCs. Active CKC has active kinematic pair, passive CKC has zero DOF, and negative CKC has negative DOF. Active and negative CKCs impose geometrical constraints on the movement of the output point and the geometric parameters of their links are determined by least-square optimization. Geometric parameters of the passive CKC are varied to satisfy the geometrical constraints of the active and negative CKCs.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 299.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 379.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Assur, L.V.: Investigation of plane hinged mechanism with lower pairs from the point of view of their structure and classification. Bull. Petrograd Polytech. Inst. 187–283 (1914)

    Google Scholar 

  2. Peng, H., Huafeng, D.: Structural synthesis of Assur groups with up to 12 links and creation of their classified databases. Mech. Mach. Theory 145, 103668 (2020)

    Article  Google Scholar 

  3. Li, S., Wong, H., Dai, J.S.: Assur-group inferred structural synthesis for planar mechanisms. J. Mech. Robot. 7(4), 041001 (2015)

    Article  Google Scholar 

  4. Morlin, F.V., Carboni, A.P., Martins, D.: Synthesis of Assur groups via group and matroid theory. Mech. Mach. Theor. 105279 (2023)

    Google Scholar 

  5. Crossley, F.R.E.: The permutation of kinematic chains of eight members or less form the graph-theoretic view point. Dev. Theor. Appl. Mech. 2, 467–486 (1965)

    Google Scholar 

  6. Schmidt, L.C., Shetty, H., Chase, S.C.: A graph grammar approach for structure synthesis of mechanisms. ASME J. Mech. Des. 122, 371–376 (2000)

    Article  Google Scholar 

  7. Sunkari, R.P., Schmidt, L.C.: Structural synthesis of planar kinematic chains by adapting McKay—Type algorithm. Mech. Mach. Theory 41, 1021–1030 (2006)

    Article  MathSciNet  MATH  Google Scholar 

  8. Kong, X., Gosselin, C.M.: Type Synthesis of Parallel Mechanisms. Springer, Berlin (2007)

    MATH  Google Scholar 

  9. Glazunov, V.: Design of decoupled parallel manipulators by means of the theory of screws. Mech. Mach. Theory 45, 239–250 (2010)

    Article  MATH  Google Scholar 

  10. Huang, Z., Li, Q., Ding, H.: Theory of Parallel Mechanisms. Springer, Dordrecht (2013)

    Book  Google Scholar 

  11. Gogu, G.: Structural synthesis of parallel robots. Solid Mech. Appl. 173, 1–703 (2010)

    MathSciNet  MATH  Google Scholar 

  12. Ding, H., Yang, W., Kecskemethy, A.: Automatic Structural Synthesis and Creative Design of Mechanisms. Springer, (2022)

    Google Scholar 

  13. Meng, X., Gao, F., Wu, S., Ge, Q.J.: Type synthesis of parallel robotic mechanisms: Framework and brief review. Mech. Mach. Theory 78, 177–186 (2014)

    Article  Google Scholar 

  14. Burmester, L.: Lehrbuch der Kinematik, Leipzig (1888)

    Google Scholar 

  15. Bottema, O., Roth, B.: Theoretical Kinematics. North-Holland Pub. Co, New York (1979)

    MATH  Google Scholar 

  16. McCarthy, J.M.: Geometric Design of Linkages. Springer, New York (2000)

    MATH  Google Scholar 

  17. Hunt, K.H.: Kinematic Geometry of Mechanisms. Oxford University Press, New York (1978)

    MATH  Google Scholar 

  18. Angeles, S.B.: Mech 541. Kinematic Synthesis. Lecture Notes. McGill University, Montreal, Quebec, Canada (2016)

    Google Scholar 

  19. Bai, S., Angles, J.: Coupler-curve synthesis of four-bar linkages via a novel formulation. Mech. Mach. Theory 94, 177–187 (2015)

    Article  Google Scholar 

  20. Chebyshev, P.L.: Sur les parallelogrammes composes de trois elements quelcongues. Mem. de l’Academic Sci. Saint-Petersbourg 36, 1–16 (1879)

    Google Scholar 

  21. Laribi, M.A., Mlika, A., Romdhane, L., Zeghlol, S.: A combined genetic algorithm–fuzzy logic method (GA–FL) in mechanisms synthesis. Mech. Mach. Theory 39(7), 717–735 (2004)

    Article  MATH  Google Scholar 

  22. Larochelle, P.: Synthesis of planar mechanisms for pick and place task with guiding positions. J. Mech. Robot. 7(3), 031009 (2015)

    Article  Google Scholar 

  23. Baskar, A., Plecnik, M.: Synthesis of six-bar timed curve generators of stephenson type using random monodromy loops. J. Mech. Robot. 13(1), 0110005 (2021)

    Article  Google Scholar 

  24. Mather, S., Erdman, A.: Reformulation of theories of kinematic synthesis for planar dyads and tripods. Robotics 12(1), 22 (2023)

    Article  Google Scholar 

  25. Zhao, P., Ge, X., Zi, B., Ge, Q.J.: Planar linkage synthesis for mixed exact and approximated motion realization via kinematic mapping. J. Mech. Robot. 8(5), 051004 (2016)

    Article  Google Scholar 

  26. Wu, R., Li, R., Bai, S.: A fully analytical method for coupler-curve synthesis of planar four-bar linkages. Mech. Mach. Theor 155:104070, Jan 2021

    Google Scholar 

  27. Xuegang, L., Shimin, W., Qizheng, L., Ying, Z.: A novel analytical method for four-bar path generation synthesis based on Fourier Series. Mech. Mach. Theory 144, 103671 (2020)

    Article  Google Scholar 

  28. Plecnik, M.M., McCarthy, J.M.: Design of Stephenson linkages guide a point along a specified Trajectory. Mech. Mach. Theory 96, 38–51 (2016)

    Article  Google Scholar 

  29. Sarkissyan, Y.L., Gupta, K.C., Roth, B.: Kinematic geometry associated with the least square approximation of a given motion. Trans ASME, Ser. B 503–510 (1973)

    Google Scholar 

  30. Sarkissyan, Y.L., Gupta, K.C., Roth, B.: Chebyshev approximation of finite point sets with application to planar kinematic synthesis. Trans. ASME J. Mech. Des. 101, 32–40 (1979)

    Google Scholar 

  31. Baigunchekov, Z., Laribi, M.A., Carbone, G., Mustafa, A., Amanov, B., Zholdassov, Y.: Structural-parametric synthesis of the RoboMech class parallel mechanism with two sliders. Appl. Sci. 11(21), 9831, 18 (2021)

    Google Scholar 

  32. Baigunchekov, Z., Laribi, M.A., Mustafa, A., Dosmagambet, N.: Structural-parametric synthesis of the planar four-bar and six-bar function generators with revolute joints. Mech. Mach. Sci. 124, 277–285, MMS

    Google Scholar 

Download references

Acknowledgment

This work was founded by the Science Committee of the Ministry of Science and High Education of Kazakhstan (Grant No AP14872115 “Development and research of the novel tripod type parallel manipulators with six degrees of freedom”).

Author information

Authors and Affiliations

  1. Al-Farabi Kazakh National University, Almaty, 050040, Republic of Kazakhstan

    Zhumadil Baigunchekov

  2. Departament of GMSC, Prime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France

    Med Amine Laribi

  3. University of Calabria, Via Bucci Cubo 45C, 87036, Rende, Italy

    Giuseppe Carbone

  4. Institute of Automation Shandong Academy of Sciences, Beijing, China

    Zhang Dong

  5. Laboratory of Applied Mechanics and Robotics, Karaganda Buketov University, Karaganda, 100001, Republic of Kazakhstan

    Rustem Kaiyrov

Authors
  1. Zhumadil Baigunchekov
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Med Amine Laribi
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Giuseppe Carbone
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Zhang Dong
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Rustem Kaiyrov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Zhumadil Baigunchekov or Rustem Kaiyrov .

Editor information

Editors and Affiliations

  1. Department of Mechanical Eng, Tokyo Institute of Technology, Meguro-ku, Tokyo, Japan

    Masafumi Okada

Rights and permissions

Reprints and permissions

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Baigunchekov, Z., Laribi, M.A., Carbone, G., Dong, Z., Kaiyrov, R. (2023). Structural-Parametric Synthesis of Path Generating Mechanisms. In: Okada, M. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2023. Mechanisms and Machine Science, vol 147. Springer, Cham. https://doi.org/10.1007/978-3-031-45705-0_30

Download citation

Publish with us

Policies and ethics

Search

Navigation