CHEBYSHEV MULTIPLE-BAR WALKING MECHANISM

The lengths of the links comply with the conditions: A͞₁B₁=B͞₁C=B͞₁M₁=A͞₂B₂=B͞₂C=B͞₂M₂=A͞₃B₃=B͞₃C₁=B͞₃M₃=A͞₄B₄=B͞₄C₁=B͞₄M₄=1, A͞₁C̕=A͞₂C̕=A͞₃C̕₁=A͞₄C̕₁=0.355, C͞C͞‘=C͞₁C͞‘₁=0.785, A͞₂A₄=A͞₁A₃=C͞‘C͞‘₁=0.634; The mechanism consists of four identical Chebyshev lambda-shaped parallel motions: C‘A₁B₁C, C‘A₂B₂C, C‘₁A₃B₃C₁ and C‘₁A₄B₄C₁. Together with cranks 7 and 8, links 5 and 6 form parallel-crank lin…