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

页码：43 / 52

页数：10

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