Kinematic Synthesis With Contact Direction and Curvature Constraints on the Workpiece

In this paper, we consider the synthesis of a planar RR chain that guides a rigid body, or workpiece, such that it does not violate normal direction and curvature constraints imposed by contact with objects in the environment. These constraints are transformed into conditions on the velocity and acceleration of points in the moving body. We use this to formulate the synthesis equations for an RR chain, which are solved by algebraic elimination. An example of the design of a planar RR linkage and a four-bar chain in which the coupler maintains in contact with two objects in two locations is used to illustrate the results.Copyright © 2007 by ASME