Multiloop Planar Linkages

In this chapter, we will formulate the systematic design of multiloop planar linkages in a way that combines with traditional robotics and four-bar linkage synthesis theory to obtain innovative articulated robotic systems. First, we will show how mechanical constraints can be introduced to a planar 3R serial chain to guide the movement of its end effector through a set of five specified task positions to obtain a six-bar linkage, as illustrated in Figure 6.1.