Kinematic mapping based assembly mode evaluation of planar four-bar mechanisms

This paper presents a new method to determine if two task positions used to design a four-bar linkage lie on separate assembly modes (circuits) of a coupler curve, known as an "assembly mode defect. " The proposed approach uses the image space of a kinematic mapping to provide a geometric environment for both the synthesis and analysis of four-bar linkages. The devised algorithm allows assembly mode decisions at an early design stage without resorting to the mechanism dimensions. The numerical effort is low compared to existing solutions.