Optimal Synthesis of Five-Bar Linkage Based on Singularity-Free Workspaces with Predefined Shapes

Optimal Synthesis of Five-Bar Linkage Based on Singularity-Free Workspaces with Predefined Shapes

The five-bar linkage, used in the form of a planar manipulator, benefits from easy controllability and relatively simple kinematic structures, which mean that it can be used in several applications in robotics, rehabilitation, and haptic devices, etc. This paper proposes an optimal synthesis method...

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Bibliographic Details
Main Authors: Lovasz Erwin-Christian, Ciupe Valentin, Demjen Tivadar, Oarcea Alexandru, Tulcan Elida-Gabriela, Sandu Melania-Olivia
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Robotics
Subjects:
five-bar linkage
planar manipulator
optimal synthesis
singularity-free workspace
performance indices
Online Access:https://www.mdpi.com/2218-6581/13/12/173
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