期刊：Journal of Mechanical Design [American Society of Mechanical Engineers] 日期：1994-03-01卷期号：116 (1): 166-173被引量：60
标识
DOI：10.1115/1.2919341
摘要
The spherical five bar parallel drive linkage is investigated for use as a spherical manipulator or as a pointing mechanism. The direct and inverse kinematics are derived for a general 5-R linkage. Kinematic and dynamic optimization yields a geometry in which all link lengths are equal to a right angle.
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