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

被引：0
|
作者：
Saafi, Houssem [1 ,2 ]
Lamine, Houssein [1 ]
Mlika, Abdelfattah [1 ]
机构：
[1] Univ Sousse, Natl Engn Sch Sousse, Mech Lab Sousse LMS, Sousse 4000, Tunisia
[2] Univ Gafsa, Preparatory Inst Engn Studies Gafsa, Gafsa 2000, Tunisia
来源：
ROBOTICS AND MECHATRONICS, ISRM 2024 | 2024年 / 158卷
关键词：
Five-bar mechanism; Parallel robots; Forward kinematic model; Optimization; Singularity; PARALLEL MANIPULATORS; DESIGN;
D O I：
10.1007/978-3-031-59888-3_5
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：43 / 52
页数：10
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