Series: Robotics Revision

2R-2 Bar Linkage Probably the simplest of robotic arm/leg mechanisms. It operates in a 2D space, but can be modified to work in a 3D cylinder of space. Easy to implement, but has several drawbacks which will be discussed later. Overview ‘A’ and ‘B’ are revolute joints (hence 2R), while ‘L1‘ and ‘L2‘ are the […]

5R-5 Bar, Closed Loop, Linkage A relatively simple mechanism, with the very useful feature of sharing the load between the two powered joints: ‘A’ and ‘E’. It may look like two 2R-2 Bar linkages back-to-back, but it works in a completely different way. Though the math is very similar. Overview ‘A’ through ‘E’ are revolute […]