Analytical Synthesis of Five-Bar Linkage 5-PRRRP
摘要
The paper proposes an analytical method for the synthesis of symmetrical five-bar linkages of type 5-PRRRP with singularity-free dexterous workspace. The conditions to avoid the singularities are given as inequations, which can be substituted with a system of equations by using a coefficient k. The solutions of the resulted system of equations are used for the analytical computation of the link lengths of a symmetrical five-bare linkage. The study also shows the direct and inverse kinematic problem and the analysis of the dexterous workspace regarding the singularities of type 1 and 2.