Topological and dimensional synthesis of planar linkages for multiple kinematic tasks

This paper presents the combined use of two systematic methods for the synthesis of planar linkage mechanisms satisfying multiple kinematic tasks. First, a Graph Theory-based method is used to exhaustively enumerate the topological alternatives for a given problem. Then each feasible alternative is automatically dimensioned using the Precision Position Method; this computation includes space and design constraints. The existing methods to synthesize multiple tasks solve, in sequence, a decomposition of the problem into single kinematic tasks. The task decomposition and the topology selection for each task are usually performed by hand. This process leads to topologies with a repeated pattern and could lead to ignoring potentially desirable topologies. This paper analyzes a design strategy for the simultaneous solution of multiple kinematic tasks. This strategy has two advantages: (i) it eliminates the need for task decomposition, and (ii) it allows the exhaustive exploration of all non-isomorphic topologies up to a defined number of links. An example of simultaneous synthesis for a double rigid-body guidance task with application to a flap-tab mechanism is shown to illustrate the methodology.