Programmable function generators––II: seven-bar translatory-output mechanism

A translating-output programmable function generator, obtained by adding a RPP dyad to the base triple-crank, five-bar mechanism (FBM), is considered here. The FBM is designed for compactness while avoiding mode singularities and the coupler point selection is based on space utilization ratio. Design variables are identified and issues of generating optimal coupler point trajectories are discussed. Simulation results are presented for minimizing the peak servo acceleration, the peak servo torque and the RMS servo torque.