Affiliation:
1. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104
Abstract
The spherical five bar parallel drive linkage is investigated for use as a spherical manipulator or as a pointing mechanism. The direct and inverse kinematics are derived for a general 5-R linkage. Kinematic and dynamic optimization yields a geometry in which all link lengths are equal to a right angle.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Cited by
34 articles.
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