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The paper presents the geometric-kinematic modeling of an articulated planar mechanism used to actuate the urban bus doors. The stages of solving the kinematic parameters as displacement, velocity and acceleration of each component of the linkage are performed. One of the goals of the paper is to use this modeling of kinematics to improve the operation of the mechanism as synchronization of the two folding doors. The velocity and acceleration of them are also important due to the fact that it can create a safe environment for the passengers. Before this study, a similar type of linkage used on trolleybuses is presented in brief. Also, a review of the main types of urban bus doors is emphasized in section 2.

urban bus door; articulated mechanism; kinematic scheme; geometric analysis; kinematics