Date of Completion
2020
Document Type
Honors College Thesis
Department
Mechanical Engineering
Thesis Type
Honors College, College of Arts and Science Honors
First Advisor
Dryver Huston
Keywords
five-bar linkage, five bar linkage, forward kinematics, inverse kinematics
Abstract
The 5-Bar Linkage (5BL) is a planar robot design that is mechanically far simpler than standard x-y gantry style planar robots. While simpler and cheaper to construct, the kinematics of the 5BL are non-linear and more complex than the gantry style. Making open-source path control software available for 5BL style robots, would greatly increase accessibility to planar robots such as laser cutters, 3D printers, and CNC mills. Singularities, working modes, and error sensitivity are discussed and analyzed. Finally, a simple transform to approximate the forward and inverse kinematics is proposed.
Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License.
Recommended Citation
Gamble, Brandon J., "5-Bar Linkage Kinematic Solver and Simulator" (2020). UVM Patrick Leahy Honors College Senior Theses. 406.
https://scholarworks.uvm.edu/hcoltheses/406