Abstract:

By analytical method is stated a kinematic study of RRRRT type spherical five-bar hinged mechanism with two degrees of freedom with clearances in kinematic pairs. For a five-bar mechanism with one clearance in the connection of two couplers are determined the positions and velocities of the output links and their points. A comparative analysis of the results of ideal and real mechanisms is carried out. The obtained results make it possible to conduct a dynamic analysis of the mechanism under consideration with improvement of its accuracy.

Keywords: Kinematic analysis; spherical five-bar mechanism; clearance; two degrees of freedom;kinematic parameters.