By the method of line coordinates, the input-output displacement equation of the RRCCR five-link spatial mechanism is obtained as an eighth-order polynomial in the half tangent of the output angle. For each set of the input and output angles obtained from the polynomial, all other variable parameters of the mechanism are uniquely determined, and the accuracy of the numerical values of each set of solutions is verified.
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Displacement Analysis of the RRCCR Five-Link Spatial Mechanism
M. S. C. Yuan
The Singer Company, Industrial Product Division, Elizabeth, N. J.
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Yuan, M. S. C. (September 1, 1970). "Displacement Analysis of the RRCCR Five-Link Spatial Mechanism." ASME. J. Appl. Mech. September 1970; 37(3): 689–696. https://doi.org/10.1115/1.3408598
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