An Exact Synthesis of Pick-and-Place Mechanisms Using a Planar Four-Bar Linkage

For repetitive material-handling operations in various industries, fixed automation using single-degree-of-freedom mechanisms can often serve as a low-cost alternative to multi-degrees-of-freedom robots. Therefore, developing design procedures for inexpensive fixed automation solutions may be highly relevant in the context of developing as well as underdeveloped economies. A design methodology to analytically synthesise a planar pick-and-place system for displacement and velocity requirements using a planar four-bar mechanism is carried out in this work. A methodology to establish the availability of kinematic defect-free solutions in terms of two free design parameters is also proposed and illustrated with a numerical example.