Optimization of a Spherical Five-Bar Parallel Drive Linkage

[+] Author and Article Information
M. Ouerfelli, V. Kumar

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104

J. Mech. Des 116(1), 166-173 (Mar 01, 1994) (8 pages) doi:10.1115/1.2919341 History: Received June 01, 1991; Online June 02, 2008


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.

Copyright © 1994 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In