A New Method of Solving the Forward Kinematic Model of a Planar Five-Bar Mechanism

This paper presents a new method of solving the forward kinematic model (FKM) of a planar five-bar mechanism. First, the new feedback scheme is described, where the sensors are placed on the two passive joints of the Five-bar mechanism. Secondly, the kinematic model is established and the geometric parameters are optimized to fit a prescribed workspace. Finally, the new method of solving the forward kinematic model, based on the cosine law, is presented. A comparison is made between the classical approach and the new approach. Thereby, the advantages of the proposed FKM solving method are discussed.