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Optimization of Watt's Six-Bar Linkage to Generate Straight and Parallel Leg Motion
2012
International Journal of Advanced Robotic Systems
This paper considers optimal synthesis of a special type of four-bar linkages. Combination of this optimal four-bar linkage with on of it's cognates and elimination of two redundant cognates will result in a Watt's six-bar mechanism, which generates straight and parallel motion. This mechanism can be utilized for legged machines. The advantage of this mechanism is that the leg remains straight during it's contact period and because of it's parallel motion, the legs can be as wide as desired to
doi:10.5772/50917
fatcat:ksdgv5fkxbah5nkbg76psu46cy