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Studies on Isotropy of Planar 5-Bar Linkages

[+] Author Affiliations
C. Amarnath, K. N. Umesh

Indian Institute of Technology, Bombay, Mumbai, India

Paper No. DETC2004-57103, pp. 267-271; 5 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


The ability to move at reasonable ease in all directions is an important requirement in the design of manipulators. The degree of ease of mobility varies from point to point in the workspace of the manipulator’s end effector. Maximum ease of mobility is obtained at an isotropic point, and the minimum occurs at singularities. An attempt has been made here to use a geometric approach for determining the isotropic points in the workspace of planar 5-bar linkages. The geometrical approach leads to interesting observations on the location of isotropic points in the workspace. The procedure also yields a technique for the synthesis of 5-bar linkages and associated coupler points exhibiting isotropic behaviour. Additionally it has been shown that coupler points exhibiting isotropic mobility occur in pairs.

Copyright © 2004 by ASME
Topics: Linkages , Isotropy



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