Synthesis of a Reconfigurable Four-Bar Mechanism With Variable Joints

This article introduces a reconfigurable four-bar mechanism. The mechanism uses a rotational-translational variable joint to switch between a RRRR four-bar and a RRRP1 four-bar. The ability to transition between two types of four-bar mechanisms allows the reconfigurable four-bar mechanism to complete a rigid body guidance task not possible by either a RRRR four-bar mechanism or a RRRP four-bar mechanism. The reconfigurable mechanism reduces the number of required actuators in the mechanism.