Skip to main content
Log in

Stable Geometry of a Plane Five-Link Mechanism

  • Published:
Russian Engineering Research Aims and scope

Abstract

A five-link mechanism of parallel structure with rotary kinematic pairs is considered. Possible configurations of the mechanism, its working regions, and singular positions are discussed. Possible optimization of its working zone without singular positions of the second kind is analyzed.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Ganiev, R.F. and Glazunov, V.A., Manipulation parallel mechanisms and their applications in modern machine engineering, Dokl. Ross. Akad. Nauk, 2014, no. 4, pp. 1–4.

    Google Scholar 

  2. Gosselin, C.M. and Angeles, J., Singularity analysis of closed-loop kinematic chains, IEEE Trans. Rob. Autom., 1990, vol. 6, no. 3, pp. 281–290.

    Article  Google Scholar 

  3. Glazunov, V.A., Koliskor, A.Sh., and Krainev, A.F., Prostranstvennye mekhanizmy parallel’noi struktury (Spatial Parallel Mechanisms), Moscow: Nauka, 1991.

    Google Scholar 

  4. Merlet, J.-P, Parallel Robots (New York, Springer-Verlag, 2006), 2nd ed.

    MATH  Google Scholar 

  5. Glazunov, V.A., Arkaelyan, V., Briot, S., and Rashoyan, G.V., Speed and force criteria for the proximity to singularities of parallel structure manipulators, J. Mach. Manuf. Reliab., 2012, vol. 41, no. 3, pp. 194–199.

    Article  Google Scholar 

  6. Glazunov, V.A., Nguyen, N.H., and Nguyen, M.T., Singular configuration analysis of the parallel mechanisms, Mashinostr. Inzh. Obraz., 2009, no. 4, pp. 11–16.

    Google Scholar 

  7. Zakharov, M.N., Prochnostnaya nadezhnost’ oborudovaniya (Strength Reliability of the Equipment), Moscow: Mosk. Gos. Tekh. Univ. im. N.E. Baumana, 2011.

    Google Scholar 

  8. Laryushkin, P.A., Classification and occurrence conditions of singularities in parallel mechanisms, Izv. Vyssh. Uchebn. Zaved., Mashinostr., 2017, no. 1 (682), pp. 16–23.

    Google Scholar 

  9. Campos, L., Bourbonnais, F., Bonev, I.A., and Bigras, P., Development of a five-bar parallel robot with large workspace, Proc. ASME Pressure Vessels and Piping Conf.-2010, Montreal, 2010.

    Google Scholar 

  10. Laryushkin, P.A. and Palochkin, S.V., Workspace of the parallel structure manipulator with three degrees of freedom, Izv. Vyssh. Uchebn. Zaved., Tekhnol. Tekst. Prom-sti, 2012, no. 3 (339), pp. 92–96.

    Google Scholar 

  11. Laryushkin, P.A., Glazunov, V.A., and Erastova, K.G., Computation of the maximal actuation efforts in parallel manipulators at a specified value of external load, Mashinostr. Inzh. Obraz., 2016, no. 2 (47), pp. 40–46.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to M. N. Zakharov.

Additional information

Original Russian Text © M.N. Zakharov, P.A. Laryushkin, K.G. Erastova, 2017, published in Vestnik Mashinostroeniya, 2017, No. 11, pp. 10–14.

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zakharov, M.N., Laryushkin, P.A. & Erastova, K.G. Stable Geometry of a Plane Five-Link Mechanism. Russ. Engin. Res. 38, 72–76 (2018). https://doi.org/10.3103/S1068798X1802020X

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3103/S1068798X1802020X

Keywords

Navigation