Design of Coupler-Drivers
 
History has put mechanism design at a disadvantage. Typically, the pieces of a device are sized to accomplish a task, and then an actuator is attached to one of the joints in the device. This is far from ideal as the joints are located to make the device move in the right way, but not necessarily to provide the ideal point from which to make the motion happen. This research seeks to introduce a simple actuating chain into the design process that allows the designer the capacity to design a device for the best motion, and then design the actuation scheme to produce the most desirable drivers for that motion. This research has particular application for pick and place devices.