- 6-Bar function generator.
- Input controlled by hydraulic pistons.
- Designed by Lisa Logan and A. Erdman, University of Minnesota, using Lincages 4.
animation (overview):
The "Length" boxes at the left represent the extension of the actuators. As can be seen,
the top piston extends by the same amount that the lower piston retracts. This is
achieved by designing the hydraulic controller to move the same amount of
fluid in and out of each piston. This leaves the function generator mechanism to
ensure that the wheel on the inside turns more than the wheel on the outside.