Abstract

This paper proposes the use of a seven-bar linkage mechanism to obtain a multiply actuated motor. Design of two input mechanisms is presented involving two synthesis sub-tasks of input motion synthesis and dimensional synthesis. To this end a design methodology is presented based on the theory of small crank mechanisms. For the case of small motion, approximate equations are developed with the premise that as a result of small reciprocating motion of the input actuators, the motion of every link, with the exception of the output, is small. The motion, in turn, is expressed as a sum of an average and a small oscillatory angular motion about the average. A set of design equations are obtained from the approximate kinematic equations. The design methodology is exemplified using the synthesis of a seven-link mechanism with two translating inputs.

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