Abstract:

Is stated the kinematic study of spherical five-bar manipulator with two degrees of freedom. Are determined the positions, velocities and accelerations of output links, their points and gripper. The manipulator is also considered as a mechanism with one degree of freedom with a long dwell of output link with the identification of the girder’s motion nature on the surface of a sphere.

Keywords: manipulator; spherical five-bar mechanism; gripper; kinematic parameters; dwell of output link