Kinematic Synthesis of Planar, Spherical and Spatial Linkages
Recent results in the design of 4R closed chains use the "configuration manifold" of the movement of the coupler link to guide the selection of task positions, such that they are consistent with smooth movement of the linkage. This manifold is also known as the "image curve" of the linkage.
Linkage Synthesis with Velocity Specifications
The animation illustrates a planar 4R linkage that was designed using three planar positions and two velocity specifications. The configuration manifold, or image curve, of the linkage was used to pick velocity specifications that resulted in smooth movement of the linkage.
Linkage Animations
This animation shows three position synthesis of a planar 4R linkage. The animation is generated using POV-ray. (HaiJun Su)
This animation shows three position synthesis of a spherical 4R linkage. POV-ray was used to generate the animation. (HaiJun Su)
This is a POV-ray animation of the spatial four-bar linkage called the Bennett Linkage. (HaiJun Su)
Select here to see an animation of a Chebychev linkage. (Terrance Yao)
Select here to see an animation of this cover mechanism. (Terrance Yao)
This is a planar linkage designed to pass through three positions and over an obstacle. Terrance Yao animated this using Visual Nastran.
This is a spherical four-bar llinkage animated by Terrance Yao using Visual Nastran.
A Spherical Linkage Feeding Machine
The spherical linkage allows the feeding mechanism to be off to the side of the client while the spoon delivers food. It avoids obstructing vision and social interaction.
Terrance Yao animated this design using Visual Nastran.
Student Concepts for New Products using Spherical Linkages
(select the image to load the animation)
Budiarto The: Car Side Mirror Linkage (1.7 MB)
Ryan Kelly: Prosthetic Thumb Linkage (1.1 MB)
Terrence Yao: Car Seat Assist Linkage. The first animation shows the linkage in a car (7.4 MB). The second focuses on the performance of the linkage (2.4 MB).
In Mo Yeo: Pitching Linkage (0.8 MB)
Jeremy Kim: Lamborgini Door Linkage (0.5 MB). Note the car is rotated 45 degree downward, so the door is actually opening vertically.
Tyler Reid: Support Linkage for Night Vision Goggles (2.7 MB).
