An Integrated Design Approach of Four-Bar Linkages with Variable Input Speed

Abstract

A novel general approach for designing four-bar linkages that integrates the kinematic synthesis, dynamic design and servo control in one design stage is presented. This approach satisfies kinematic design requirements and also attains trade-off of dynamic balance. By properly designing the speed trajectory of the input link, the balancing parameters of moving links and link dimensions of the given or desired mechanisms, the expected output motion characteristics and dynamic balancing performance are obtained. The input motion characteristics are designed with Bezier curves. The dynamic design is implemented by means of links counterweighing and mass redistribution. Optimization is applied to find optimal design parameters for meeting kinematic and dynamic design requirements and constraints. Examples are given to demonstrate the feasibility of this approach.