Optimization of a Spherical Five-Bar Parallel Drive Linkage
- 1 March 1994
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 116 (1) , 166-173
- https://doi.org/10.1115/1.2919341
Abstract
The spherical five bar parallel drive linkage is investigated for use as a spherical manipulator or as a pointing mechanism. The direct and inverse kinematics are derived for a general 5-R linkage. Kinematic and dynamic optimization yields a geometry in which all link lengths are equal to a right angle.Keywords
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