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Athena is a modular medical robot of which one module is a passive spherical 5-bar mechanism. Within this paper the complete kinematic analysis of the spherical 5-bar using quaternions will be provided. This analysis includes forward and inverse kinematics as well as forward and inverse singularities in workspace and joint space.

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Kinematic Analysis of a Spherical Five-Bar Linkage Using Quaternions

  • 会议论文

  • 发表日期：

    2026年

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  • Manfred Husty,
  • Iosif Birlescu,
  • Calin Vaida,
  • Damien Chablat,
  • Doina Pisla

摘要

Athena is a modular medical robot of which one module is a passive spherical 5-bar mechanism. Within this paper the complete kinematic analysis of the spherical 5-bar using quaternions will be provided. This analysis includes forward and inverse kinematics as well as forward and inverse singularities in workspace and joint space.