Five-bar linkage

In kinematics, a five-bar linkage is a mechanism with two degrees of freedom that is constructed from five links that are connected together in a closed chain. All links are connected to each other by five joints in series forming a loop. One of the links is the ground or base. This configuration is also called a pantograph, however, it is not to be confused with the parallelogram-copying linkage pantograph. The linkage can be a one-degree-of-freedom mechanism if two gears are attached to two links and are meshed together, forming a geared five-bar mechanism. When controlled motors actuate the linkage, the whole system (a mechanism and its actuators) becomes a robot. This is usually done by placing two servomotors (to control the two degrees of freedom) at the joints A and B, controlling the angle of the links L2 and L5. L1 is the grounded link. In this configuration, the controlled endpoint or end-effector is the point D, where the objective is to control its x and y coordinates in the plane in which the linkage resides. The angles theta 1 and theta 2 can be calculated as a function of the x,y coordinates of point D using trigonometric functions. This robotic configuration is a parallel manipulator. It is a parallel configuration robot as it is composed of two controlled serial manipulators connected to the endpoint. Unlike a serial manipulator, this configuration has the advantage of having both motors grounded at the base link. As the motor can be quite massive, this significantly decreases the total moment of inertia of the linkage and improves backdrivability for haptic feedback applications. On the other hand, workspace reached by the endpoint is usually significantly smaller than that of a serial manipulator. Both the forward and inverse kinematics of this robotic configuration can be found in closed-form equations through geometric relationships. Different methods of finding both have been done by Campion and Hayward.

About this result

This page is automatically generated and may contain information that is not correct, complete, up-to-date, or relevant to your search query. The same applies to every other page on this website. Please make sure to verify the information with EPFL's official sources.

Related concepts (13)

Related courses (2)

Related lectures (33)

MICRO-451: Applied and industrial robotics

This course is a real contact with industrial robotic applications. Components and mechanisms are reminded. The fields of microtechnical assembly and packaging are treated. CTOs from established compa

ME-302: Mechanical design principles

We will study the working principles and physics of essential mechanical components for diverse applications in engineering mechanics. The course will serve as a vehicle to introduce and synthesize n

Five-bar linkage

Kinematic pair

In classical mechanics, a kinematic pair is a connection between two physical objects that imposes constraints on their relative movement (kinematics). German engineer Franz Reuleaux introduced the kinematic pair as a new approach to the study of machines that provided an advance over the motion of elements consisting of simple machines. Kinematics is the branch of classical mechanics which describes the motion of points, bodies (objects) and systems of bodies (groups of objects) without consideration of the causes of motion.

Six-bar linkage

In mechanics, a six-bar linkage is a mechanism with one degree of freedom that is constructed from six links and seven joints. An example is the Klann linkage used to drive the legs of a walking machine. In general, each joint of a linkage connects two links, and a binary link supports two joints. If we consider a hexagon constructed from six binary links with six of the seven joints forming its vertices, then the seventh joint can be added to connect two sides of the hexagon to form a six-bar linkage with two ternary links connected by one joint.

Mechanism Design: Flexible Guiding and Energy Analysis MICRO-200: Mechanism Design I

Explores a mechanical solution with a four-bar linkage mechanism and flexible guiding.

Geometric Modeling: Jacobian MICRO-451: Applied and industrial robotics

Explores geometric modeling of a 6 DOF system and the significance of the Jacobian matrix in motor selection and force projection.

Exoskeletons: Rehabilitation and Mobility MICRO-451: Applied and industrial robotics

Explores the use of exoskeletons in rehabilitation and mobility, covering parallel kinematics, verticalized systems, and functional electrical stimulation.