International Journal of Mechanical and Industrial Engineering


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.





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