Motion Generation of Planar Six and Eight Bar Slider Mechanisms as Constrained Robotic Systems

Abstract

In this paper, we formulated a systematic design methodology for the design of planar sixand eightbar slider mechanisms for motion generation applications that require more complex motion than the slider–crank mechanism. We show how two RR dyads can be synthesized and attached to planar PRR and PRR–3R chain for the dimensional synthesis of planar sixand eightbar slider mechanisms, respectively. The results are 15 different types of one degreeoffreedom planar sixand eightbar linkages with a prismatic joint at its base. We demonstrate the design process with the design of a multifunctional wheelchair that could transform its structure between a selfpropelled wheelchair and a walking guide meant for outpatient rehabilitation purpose.