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In the study of mechanisms, a four-bar linkage, also called a four-bar, is the simplest closed-chain movable linkage. It consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is called a planar four-bar linkage. Spherical and ...
An example of a simple open chain is a serial robot manipulator. These robotic systems are constructed from a series of links connected by six one degree-of-freedom revolute or prismatic joints, so the system has six degrees of freedom. An example of a simple closed chain is the RSSR spatial four-bar linkage.
They can provide greater power transmission with more design flexibility than four-bar linkages. Jansen's linkage is an eight-bar leg mechanism that was invented by kinetic sculptor Theo Jansen. Klann linkage is a six-bar linkage that forms a leg mechanism; Toggle mechanisms are four-bar linkages that are dimensioned so that they can fold and lock.
The exception in this list is Watt's parallel motion, which combines Watt's linkage with another four-bar linkage – the pantograph – to amplify the existing approximate straight line movement. It is not possible to create perfectly straight line motion using a four-bar linkage, without using a prismatic joint. Watt's linkage (1784)
Six-bar linkage from Kinematics of Machinery, 1876 In mechanics , a six-bar linkage is a mechanism with one degree of freedom that is constructed from six links and seven joints . [ 1 ] An example is the Klann linkage used to drive the legs of a walking machine.
The coupler curve of a four-bar linkage guides the lower link of an RR serial chain to form a leg mechanism, known as the Klann linkage. U.S. Patent No. 6,481,513, Single Actuator per Leg Robotic Hexapod, M. Buehler et al. (2002). A leg mechanism that consists of a single rotating crank.
Watt's linkage consists of three bars bolted together in a chain. The chain of bars consists of two end bars and a middle bar. The middle bar is bolted at each of its ends to one of the ends of each outer bar. The two outer bars are of equal length, and are longer than the middle bar. The three bars can pivot around the two bolts.
This is considered to be a special case of two joints that are located in the same place. Thus, six plus four provides the 10 one degree-of-freedom joints. The Peaucellier linkage is a (4, 4, 0, 0) eight-bar linkage, which means four of the bars have two joints and four bars have three joints. Animation of one leg of Theo Jansen's Strandbeest