This linkage was designed to guide a powered screw driver through a specified set of locations to automatically insert and tighten bolts. The design is achieved by constraining an RPR serial chain by adding two RR dyads. The work is a collaboration between Kevin Hung and Mark Plecnik.
This is a revised version of the rice transplanter linkage designed by Mark Plecnik. It uses an RPR chain to provide the basic movement, which is then constrained by the addition of two RR dyads. The result is a six-bar linkage that provides a more direct movement from selection of the seedling to insertion in the ground.