Lab Experiences with 5R Mechanisms for Teaching

Experimental experiences in LARM2 in Rome are presented to analyze a 5R mechanism for teaching in designing, prototyping and operating. A 5R mechanism prototype has been manufactured through 3D printing, assembled with low-cost commercial components, and then validated experimentally. One Inertial Measurement Unit (IMU) sensor measures the output motion, and two current sensors monitor the power consumption. Test results are discussed in terms of prototype performance to show how parallel mechanisms can be taught in university courses by using a simple 5R mechanism.