Chebyshev Linkage-Robot

6 bars linkage mechanism

Size view of Chebyshev Linkage-robot

Top view Chebyshev Linkage-robot

Chebyshev Linkage-robot

In the nineteenth century Pafnuty Chebyshev studied the mathematical problems of kinematic mechanisms. The main problem was the construction of four bar linkages that converts a rotary motion into an approximate straight-line motion.

The prototype is representing the general joint´s configuretion, so the links move in parallel planes, and the assembly that is called a planar four-bar linkage. Spherical and spatial four-bar linkages also exist and are used in practice.

Countries & Year

Colombia - 2022


Hernando Leon-Rodriguez


Main Linkage Robots

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