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Paper Title :
Author : Hasan Eleashy
CoAuthors : M.S.Elgayyar
Source : International Journal of Mechanical and Industrial Engineering (IJMIE), ISSN No. 2231 –6477
Date of Publication : 01/2012
Abstract : - In this paper, we consider the planar robot formed by 3R chain. To mechanically constrain the relative movement of the joints so that the end-effector reaches a specified set of task positions, two additional links are added to the 3R chain. Graphical representation is presented for enumeration process. Reverse transformation technique is developed to reconstruct 6-bar mechanisms from their corresponding graphs. Structural synthesis process yields designs for seven different forms of a six-bar linkage the Watt I and Stephenson I, II, and III six-bar linkages.
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