Abstract
Pantograph mechanisms for force generation called PMFG are proposed. The mechanisms are based on four-bar linkage mechanisms and are effective in energy saving, simplification, and miniaturization of a total system of force generation. Static relationship between the motion of the mechanism and its output force is analyzed for optimization of structure and dimensions. For optimization of pulley shapes, analytical and approximate methods are discussed. Experimental results show that eccentric non-circular pulleys are more effective than the circular pulleys in producing accurate force to satisfy conditional relations between the force and displacement of mechanism. The mechanism is useful in fulfilling various kinds of force versus displacement characteristics requirements.
