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Design of the five-bar linkage with singularity-free workspace

Published online by Cambridge University Press:  11 August 2023

Tivadar Demjen ,
Erwin-Christian Lovasz Open the ORCID record for Erwin-Christian Lovasz [Opens in a new window] ,
Marco Ceccarelli Open the ORCID record for Marco Ceccarelli [Opens in a new window] ,
Carmen Sticlaru ,
Antonio-Marius-Flavius Lupuţi ,
Alexandru Oarcea  and
Dan-Cristian Silaghi-Perju
Tivadar Demjen
Affiliation:
Department of Mechatronics, Politehnica University of Timişoara, Timişoara, Romania
Erwin-Christian Lovasz*
Affiliation:
Department of Mechatronics, Politehnica University of Timişoara, Timişoara, Romania
Marco Ceccarelli
Affiliation:
LARM2 Laboratory of Robot Mechatronics, University of Rome Tor Vergata, Roma, Italy
Carmen Sticlaru
Affiliation:
Department of Mechatronics, Politehnica University of Timişoara, Timişoara, Romania
Antonio-Marius-Flavius Lupuţi
Affiliation:
Department of Mechatronics, Politehnica University of Timişoara, Timişoara, Romania
Alexandru Oarcea
Affiliation:
Department of Mechatronics, Politehnica University of Timişoara, Timişoara, Romania
Dan-Cristian Silaghi-Perju
Affiliation:
Department of Mechatronics, Politehnica University of Timişoara, Timişoara, Romania
*
Corresponding author: Erwin-Christian Lovasz; Email: erwin.lovasz@upt.ro
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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.

Keywords

five-bar linkageanalysissynthesisperformance indicesmechanism prototype
Type
Research Article
Information
Robotica , Volume 41 , Issue 11 , November 2023 , pp. 3361 - 3379
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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