Kinematic Analysis of the Seven-Bar Linkage 7-PR(RRRR)RP Used for Medical Disinfection Robot

The paper presents the type synthesis and analysis of a seven-bar linkage. The type synthesis equations lead to the computation of the symmetrical seven-bar linkage with both prismatic and revolute joints. The analysis of the mechanism shows the high variation of both its stroke and its height from the minimum to the maximum configuration. Since current disinfection robots cannot operate in multiple configurations and only disinfect large areas, the purpose of the paper is to demonstrate how folding mechanisms structures are more useful for the design of medical disinfection robots. Considering their structure allows multiple configurations, they can be used to disinfect different types of areas from the medical environment.