Construction and multi-mode motion analysis of single-degree-of-freedom four-bar multi-mode planar mechanisms based on singular configuration

Abstract

The single-degree-of-freedom four-bar multi-mode planar mechanism (MMPM) is a type of four-bar mechanism, which not only has the structural characteristics of the traditional four-bar mechanisms but also can achieve multiple motion modes by changing its structure. It has the advantage of performing diverse functions while conserving resources, which opens up new possibilities for research and application of the four-bar mechanism. However, due to the lack of a systematic configuration construction method, the design and application of single-degree-of-freedom four-bar MMPMs are seriously limited. This paper presents a systematic method to construct a set of single-degree-of-freedom four-bar MMPMs based on the loop equations and the proposed multi-mode modules (MMMs). First, depending on the loop equations, the four-bar planar mechanism containing two branches is identified by the corresponding branch graphs. Then three kinds of MMMs are systematically proposed for the first time, helping the identified mechanism realize multiple motion modes. Subsequently, single-degree-of-freedom four-bar MMPMs are constructed by replacing the specific component of the planar mechanism with the MMMs. Furthermore, the replacement rules of MMMs and the corresponding construction steps are summarized. Finally, 14 kinds of single-degree-of-freedom four-bar MMPMs are listed and the corresponding multi-mode motion analysis is discussed at the end of this paper. The proposed method will provide a great convenience for the configuration design of single-degree-of-freedom four-bar MMPMs.