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RESEARCH PAPERS

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

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.

Copyright © 1994 by The American Society of Mechanical Engineers
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