Kinematic behavior analysis of 2-DOF five-bar mechanism with two sliders driving

A variety of planar curvilinear motions are required in industrial operations,not only their forms of paths are requested,but also their motion behaviors(speed,acceleration) are requested specially.A simple and practical 2-DOF planar five bar mechanism with two slides driven on the same path is presented in this paper.The calculation formula of forward and inverse solutions for this mechanism were derived.Based on its kinematic inverse solution,the simulation and analysis of motion regularity and characteristics of two sliders driving movement when the end movement path operation points of the mechanism meets the various linear,circular and canned combined curves was carried out.This has laid an foundation for real-time control and industrial application of the simple 2-DOF manipulator.