Articles | Volume 14, issue 1
Research article
17 Mar 2023
Research article |  | 17 Mar 2023

Dimensional synthesis of a spherical linkage crank slider mechanism for motion generation using an optimization algorithm

Wei Zhang, Zhen Liu, Wenrui Liu, Jianwei Sun, and He Lu

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
A versatile end effector for grabbing and spreading of flaky deformable object manipulation
Yuan Huan, Gongchang Ren, Xiangyu Su, and Weizhi Tian
Mech. Sci., 14, 111–123,,, 2023
Short summary
Design and kinematics of a lightweight cruciform continuum robot
Pan Zhou, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi kong, and Kunming Zhu
Mech. Sci., 14, 99–109,,, 2023
Short summary
Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism
Da Song, Xinlei Xiao, Gang Li, Lixun Zhang, Feng Xue, and Lailu Li
Mech. Sci., 14, 19–32,,, 2023
Short summary
Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism
Minghui Zhang and Yiming Su
Mech. Sci., 14, 1–13,,, 2023
Short summary
Dynamic modeling and vibration characteristics analysis of parallel antenna
Guoxing Zhang, Jianliang He, Jinwei Guo, and Xinlu Xia
Mech. Sci., 13, 1019–1029,,, 2022
Short summary

Cited articles

Alizade, R., Can, F. C., and Kilit, Ö.: Least square approximate motion generation synthesis of spherical linkages by using Chebyshev and equal spacing, Mech. Mach. Theory, 61, 123–135,, 2013. 
Avilés, R., Navalpotro, S., Amezua, E., and Hernández, A.: An energy-based general method for the optimum synthesis of mechanisms, J. Mech. Des.-T. ASME, 116, 127–136,, 1994. 
Bagci, C.: Geometric methods for the synthesis of spherical mechanisms for the generation of functions, paths and rigid-body positions using conformal projections, Mech. Mach. Theory, 19, 113–127,, 1984. 
Chu, J. and Sun, J.: Numerical atlas method for path generation of spherical four-bar mechanism, Mech. Mach. Theory, 45, 867–879,, 2010. 
Chu, J. K. and Cao, W. P.: Synthesis of coupler curves of planar four-bar linkages through fast Fourier transform, Chin. J. Mech. Eng., 29, 117–122, 1993. 
Short summary
A new method to solve the motion generation problem of a spherical four-bar crank slider rigid-body guidance mechanism is introduced. According to the amplitude and phase of the position output and direction output of the mechanism, the method of establishing the mechanism output characteristic database is given. Then the solution method of size parameters is given. According to the database and solution method, the motion generation is realized.