Geometry of a five link mechanism with two degrees of freedom

The paper is devoted to the solution of straight and inverse geometrical tasks of five link mechanism with two degrees of freedom. The solution of the mentioned problem is very important in order to determine kinematic parameters of actuators. The problem can be divided into two parts. The first part is considered when we are given the coordinates of the output link of the mechanism and the necessity arises of determining the angles of rotation of actuators. On the other hand, it is very important to determine the position of the output link when the angles of rotation of the actuators are known. Here we consider that the mechanism is composed only of five classes of rotating kinematic pairs and the actuators are situated at the junctions of frames and links of the examined mechanism. The solution of the said problem is based on utilization of homogenous coordinates. On the basis of the obtained equations of motion, one can calculate the trajectories of motion of the output link as well angles of rotation of the actuators by taking into consideration preliminary given kinematic parameters of the mechanism. Here we also obtain equations for calculating values of speed and acceleration of the links of the mechanism. The calculations differ from known methods in simplicity and high performance, which would be useful for programming actuators mounted in the joints of the linkage.