Controlling the Movement of a TRR Spatial Chain With Coupled Six-Bar Function Generators for Biomimetic Motion

This paper describes a synthesis technique that constrains a spatial serial chain into a single degree-of-freedom mechanism using planar six-bar function generators. The synthesis process begins by specifying the target motion of a serial chain that is parameterized by time. The goal is to create a mechanism with a constant velocity rotary input that will achieve that motion. To do this, we solve the inverse kinematics equations to find functions of each serial joint angle with respect to time. Since a constant velocity input is desired, time is proportional to the angle of the input link, and each serial joint angle can be expressed as functions of the input angle. This poses a separate function generator problem to control each joint of the serial chain. Function generators are linkages that coordinate their input and output angles. Each function is synthesized using a technique that finds 11 position Stephenson II linkages, which are then packaged onto the serial chain. Using pulleys and the scaling capabilities of function generating linkages, the final device can be packaged compactly. We describe this synthesis procedure through the design of a biomimetic device for reproducing a flapping wing motion.