Date of Completion


Document Type

Honors College Thesis


Mechanical Engineering

Thesis Type

Honors College, College of Arts and Science Honors

First Advisor

Dryver Huston


five-bar linkage, five bar linkage, forward kinematics, inverse kinematics


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

Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License.