Abstract
In this paper, we consider the problem of designing planar six-bar linkages which can be driven by prismatic joints at its base. We explore various ways on how two RR chains can be used to constraint a PRR planar serial chain such that the system yields one-degree of freedom yet passes through a set of five specified task positions. We formulate and solve the design equations as well as analyze the resulting planar six-bar linkage. We demonstrate the synthesis process with the design of the seat of a wheelchair such that it is able to transform itself to be used as a rehabilitation guide during rehabilitation.