Kinematic Analysis of a Planar Mechanism Driven by Two Orthogonal Layout Actuators

In this paper, a planar five-bar mechanism driven by two orthogonal layout actuators is proposed. The inverse and forward kinematics can be described in closed form. The Jacobi matrix, singularity and workspace of the mechanism are investigated. In addition, charts of some performance indices, such as dexterity, velocity, payload capability and stiffness index, are plotted. The results show that the mechanism has a flatter singularity-free workspace, which is usually our research object. On the other hand, Dexterity, Payload capability and stiffness index of the mechanism are basically the same distribution on the workspace, which are axis symmetric. But, the trend of velocity index is opposite. The proposed mechanism can be applied to the field of machine tools or used as the mobile base for a spatial manipulator. The results of the paper are very useful for the design and application of the new mechanism