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Дата издания
16.02.2026На каком языке издана
ISSN
2576988XОбласть исследования
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Аннотация (краткое описание)
This paper was performed using geometry and interactive motion (GIM) software, a learning and research software designed to facilitate the kinematic analysis and synthesis of planar mechanisms. This study presents an analytical and geometric approach to the synthesis of planar four-bar linkages for precise path generation using sixth order connecting coupler curves. Emphasis is placed on defining linkage configurations that enable a coupler point to pass through a set of three, four, or five user-defined precision points. The methodology integrates classical kinematic principles, Roberts' theorem, and focal circle theory to identify double points and optimize the trajectory of the coupler. Using complex number representations and algebraic formulations, the equations governing coupler motion are derived and applied to various linkage types, including crank-rocker, double-rocker, and limit mechanisms. Parallelogram constructions and focal circles are used to detect critical configurations and analyze the continuity and self-intersections of coupler paths. Computational simulations validate the synthesis approach across different configurations, highlighting trade-offs between accuracy and mechanical feasibility. The results demonstrate the applicability of the method in advanced motion control tasks such as robotic arms, dwell mechanisms, and function generation. This work contributes to the field of kinematic synthesis by offering a rigorous framework for linkage design with enhanced precision, reliability, and versatility. © The Author(s) 2026. Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits the use, sharing, adaptation, distribution and reproduction in any medium or format, as long as appropriate credit to the original author(s) and the source is given by providing a link to the Creative Commons license and changes need to be indicated if there are any. The images or other third-party material in this article are included in the article's Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.DOI
10.30919/es2068Тип публикаций
Практическое значение
This study has significant practical value in the field of mechanism and machine design. The proposed methodology for the synthesis of planar four-bar linkages enables the development of mechanical systems capable of generating highly accurate prescribed motion trajectories. Such capabilities are particularly important in the following areas: Robotics, for the design of robotic manipulators and robotic arms that must follow precise paths during operation. Automated manufacturing, where linkage mechanisms are used in material handling, assembly, packaging, and machining processes. Mechanical engineering, for the development of linkage-based motion transmission systems with specified kinematic characteristics. Transportation engineering, including the design of steering, suspension, and other motion-control mechanisms. Dwell mechanisms, which require temporary pauses in the motion of an output element while the input link continues to move. Motion control systems, where accuracy, smoothness, and reliability of movement are essential. The integration of GIM software with the proposed analytical and geometric synthesis methods reduces design time, improves computational accuracy, and facilitates the early detection of undesirable kinematic behaviors such as trajectory discontinuities and self-intersections. Consequently, the approach enhances the reliability, efficiency, and versatility of linkage mechanisms, making it highly applicable to advanced engineering and industrial applications.Квартиль
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SCImago (Scopus)Impact Factor
9.3Данный документ располагается в коллекциях
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