Article contents
Design of the five-bar linkage with singularity-free workspace
Published online by Cambridge University Press: 11 August 2023
Abstract
This paper shows the kinematic analysis and the synthesis of the five-bar linkage with symmetrical structure and singularity-free dexterous workspace. The type synthesis of the five-bar linkage shows that the number of symmetrical structures of five-bar linkage is limited to eight structures. This study deals with the forward and inverse kinematic analysis and synthesis of the five-bar structure 5-RRRRR. The synthesis equations allow the analytical computation of the link lengths of a symmetrical five-bar linkage using only revolute joints to avoid the singularities in an imposed dexterous workspace. A numerical example of the symmetrical five-bar linkage is analyzed and synthetized theoretically and characterized by computing the performance indices. The tests on an experimental model of the five-bar linkage 5-RRRRR confirm the singularity-free dexterous workspace.
- Type
- Research Article
- Information
- Copyright
- © The Author(s), 2023. Published by Cambridge University Press
References
- 6
- Cited by