Design and Modeling of a Six-Bar Mechanism for Repetitive Tasks with Symmetrical End-Effector Motion

This study investigates the dynamics of a novel planar six-bar mechanism with one Degree of Freedom (DoF), incorporating both four-bar and five-bar linkages. Kinematic analysis is performed by setting up closed-loop equations, and the results are validated against SOLIDWORKS software simulations. Additionally, a static stress analysis assesses the structural integrity of the mechanism under operational loads, identifying potential failure points and ensuring design adequacy. Dynamic force analysis is then performed to determine the driving torque of the actuator for the designed amphibious mechanism. These findings highlight the mechanism's potential for precise motion control in compact applications, providing valuable insights into its practical utility in various industrial applications.