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In this contribution, a four-bar linkage having a variable input velocity is studied, traditionally it is assumed to be constant. The advantages of a variable input velocity mechanism, in contrast to a mechanism driven by constant velocity, are the flexibility of the output motion (and/or improved kinematic and dynamic characteristics). The velocity of the crank is controlled in order to obtain the desired output motion at the coupler point. The input velocity trajectory and the controller parameters are considered as design variables, such that the kinematic and dynamic requirements are fulfilled. Two numerical examples are provided to corroborate the result.

On the coupler point velocity control of variable input speed servo-controlled four-bar mechanism