In this paper, we consider the planar robot formed by 3R chain. To mechanically constrain the relative movement of the joints so that the end-effector reaches a specified set of task positions, two additional links are added to the 3R chain. Graphical representation is presented for enumeration process. Reverse transformation technique is developed to reconstruct 6-bar mechanisms from their corresponding graphs. Structural synthesis process yields designs for seven different forms of a six-bar linkage the Watt I and Stephenson I, II, and III six-bar linkages.
Eleashy, H. and Elgayyar, M.S.
"Structural Synthesis of 6 Bar Mechanisms as Mechanically Constrained 3R Chains,"
International Journal of Mechanical and Industrial Engineering: Vol. 2
, Article 2.
Available at: https://www.interscience.in/ijmie/vol2/iss1/2