Abstract:

The formula for the kinetic energy of RRRRT type spherical five-bar hinged mechanism with two degrees of freedom with one clearance in the connection of two couplers is stated that gives the possibility to generate differential equations for the additional and main movement of the mechanism. By solving these equations, it reveals the possibility to determine the real laws of motion of the input links with an increase in their accuracy.

Keywords: spherical five-bar mechanism; kinetic energy; clearances; differential equation of motion.