Russian Engineering Research

, Volume 38, Issue 2, pp 72–76 | Cite as

Stable Geometry of a Plane Five-Link Mechanism

  • M. N. Zakharov
  • P. A. Laryushkin
  • K. G. Erastova


A five-link mechanism of parallel structure with rotary kinematic pairs is considered. Possible configurations of the mechanism, its working regions, and singular positions are discussed. Possible optimization of its working zone without singular positions of the second kind is analyzed.


plane mechanisms parallel structure working zone singular positions 


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Copyright information

© Allerton Press, Inc. 2018

Authors and Affiliations

  • M. N. Zakharov
    • 1
  • P. A. Laryushkin
    • 1
  • K. G. Erastova
    • 1
  1. 1.Bauman Moscow State Technical UniversityMoscowRussia

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