Scalable six bar linkage mechanism for re-orienting and aligning objects: Design methodology

This paper summarizes the work done in context of an industrial research project collaboration between Italian Institute Technology and company Fameccanica Data Spa. introduces design a six bar linkage mechanism, actuated by single motor, for re-orienting aligning objects. The main application consists grasping empty bottles lying flat on input conveyor, rotating, placing them upright position another conveyor. breakthrough aspect general scalable introduced lays system kinematic equations whose solutions correspond to lengths. Such lengths define six-bar-linkage able re-orient align vertically generic object. Finally, this presents mechanism prototype created such performing tests operational environment at high speed.