Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: SLM that is a four-bar closed-loop linkage with fixed link 0. When links 1 and 2 form a straight line (θ2=0), the SLM takes the singular configuration and generates impulsive torque.

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Time history of the angular displacements and the output torque TD of link 3 when a unit step input torque τI is given to link 1

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Actual device of the experimental SLM system: before lifting (left side) and after lifting (right side)

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Time history of the torque-based lifting experiment (a constant motor torque is applied): (a) the angle and (b) the dynamic output torque of link 3

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Time history of the angle-based lifting experiment (an optimized motor torque to achieve a desired angle is applied): (a) the angle and (b) the dynamic output torque of link 3

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: (a) The electric energy Ee (input) and the mechanical energy Em (output), and (b) the conversion efficiency ε in the angle-based lifting experiment

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Initial configuration of the SLM and PM (the configuration of the SLM is singular)

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Comparison of the SLM and PM when a step motor torque is applied: (a) the angle and (b) the task torque of link 3

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Time history of the SLM and PM when the optimized motor torque is applied: (a) the optimized motor torque, (b) the angle of link 3, (c) the output task torque, (d) the angular velocity of link 1, (e) the energy consumption, and (f) the energy efficiency

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Energy consumption of the SLM (solid lines) and PM (dotted lines) by the tasks with the desired angle and the load mass. The plot shows the task, mL = 3 kg and φT=135 deg, shown in Fig. 9.

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Energy efficiency of the SLM (solid lines) and PM (dotted lines) by the tasks with the desired angle and the load mass. The plot shows the task, mL = 3 kg and φT=135 deg, shown in Fig. 9.

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Characteristic of SLM related to the mass of load: (a) the output dynamic torque and (b) the angular acceleration of link 3

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Initial singular configuration (left) and ending singular configuration (right) of the experimental SLM system

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Relation of the range of motion Φ, initial angle φ0, and ending angle φe with respect to the length l2. The positions marked as (a), (b), and (c) correspond to the three configurations of SLM shown in Fig. 15.

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Examples of the SLM with three ranges of motion Φ (narrow (a), middle (b), and wide (c)): parameters (top table) and the initial and ending angles of the SLM (bottom figures)

Date of download: 10/12/2017 Copyright © ASME. All rights reserved. From: Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency J. Mechanisms Robotics. 2015;7(3):031002-031002-8. doi:10.1115/1.4028930 Figure Legend: Characteristic of output SLM’s torque TD related to its range of motion Φ