UNIFIED SYNTHESIS OF PLANAR SIX-BAR MECHANISMS USING BURMESTER THEORY.

Burmester theory and the complex number method are utilized to synthesize multi-loop six bar planar mechanisms with one degree of freedom. The four bar linkage, because of its simplicity, sometimes does not allow the designer sufficient design flexibility. A six bar linkage allows more ″designability″ without undo complexity. The synthesis procedure for all possible combinations of one degree of freedom planar six bars with revolute joints is outlined and, in the process, the specifiable parameters are signed out. Burmester theory permits one to solve for five finitely separated positions of the coupler plane path point of a four bar linkage. This theory also allows one to specify the rotations of one of the links which correspond to the five path points. The solution procedure has been programmed and well documented in the literature. This paper presents a new method of expressing the equations of six bar linkages so that they all result in a ″standard″ Burmester form. These equations are readily programmable and, thus, yield a unified approach for kinematic synthesis of planar six bar linkages.