Programmable function generators––I: base five-bar mechanism

The concept of programmable function generator mechanisms is introduced here. A multi-degree of freedom (DOF) closed chain mechanism can be termed a programmable mechanism, if the motion corresponding to at least one DOF is controlled to influence the output motion. The five-bar, two-DOF planar mechanism, which constitutes a base for synthesizing the simplest programmable function generator mechanisms, is studied here. Design considerations, such as determinate kinematics, link dimensions, selection of coupler-point and control-input, are discussed.