Guide
One of the simplest and most common linkage types is the Four-Bar Linkage. This is a linkage
system that provides a wide variety of motions depending on its conguration. By varying the
length of each link, one can greatly change the output motion. The most basic type of Four-Bar
Linkage is one where link pairs are equal length and parallel to each other, as seen below:
Rotating Joint, Elevator, or Linkage?
Elements to consider when deciding what type of Lifting Mechanism is best for your robot’s needs:
- Elevation Required – How high do you have to lift?
- Object Orientation – Do the objects you are lifting have to remain in a certain orientation?
- Size Limitations – Are there design or environmental limitations to your robot’s size?
- Complexity – How many degrees of freedom are desired? What type of hardware is required?
- Motors Required – Do you have enough? Is the total number limited?
If you have time, try building the Four-Bar linkage show here to see how a linkage works!
G.6
cont.