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Five- Link Mechanism is controlled by two servos and make arbitraty 2D movement.

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Five- Link Mechanism is controlled by two servos and make 2D movement. The mecnaism can be used as a lever for 2d plotter or as a foot for 2-3-4-6 -legged robots. We make hardware models, calculate the geometry and dynamics of thei 5-Link Mechanism.

We propose very interesting and simple tool to obtain two – dimensional movement using two rotary drives and five-link mechanism (FLM). We made some math model, calculate the relations between angles and the target point coordinates. Rotary drives are servos, dc, brushless or any other motors. We can use the FLM as actuators, levers, plotter arms, pusher and feets in robots and other micromechanics.

Description of the work, math and tech of a Five Link Plane Mechanism as a 2D actuator.

Adobe Portable Document Format - 1.41 MB - 04/12/2018 at 19:32

Here is an Arduino code to controle two servos as a base of Five Link Mechanism.

- 3.25 kB - 04/12/2018 at 19:29

Arduino Code for 2 servo and two potentiometers to control the servos.

ino - 988.00 bytes - 03/26/2018 at 22:10

Calculation of angles of Servos to control 5 Link Mechanism targen point, incl. 5 Figures.

Adobe Portable Document Format - 909.93 kB - 03/26/2018 at 22:00

Calculation of angles of Servos to control 5 Link Mechanism targen point, incl. 3 Figures.

Adobe Portable Document Format - 402.70 kB - 03/25/2018 at 17:47

• 2 × Arduino nano R3 CH340 992-ARD-NANO30NP Nano or any other type of Arduino PCB
• 2 × SG9S or any other kind of serve (180° or wider) Or any kind of rotary driver
• 2 × Levers for Servo axe in one side and a hole in other side Example is on the description
• 2 × Levers with holes on both sides

• ### Making Five Link Mechanism Model with 2 servos

Sergei V. Bogdanov04/12/2018 at 20:02 0 comments

We make model with   LED display. We use folder tablet for paper as an base, and diagram millimeter paper. Let us see the schematics and the photo of the Model. We use plane We can tune the angles of servos   ϕ and ψ by means of multy-turn potenriometers 3 and 4 , connected with A0 and A1 Arduino Uno inputs, toggle button 4 for mode switch and one single-turn potentiometer to control the speed in “Auto” mode. Here we use two 4-symbole LED display 7.

• ### Мathematical formulas for calculating the mechanism

Sergei V. Bogdanov04/12/2018 at 13:00 0 comments

Using the Figures from Log1, we can calculate the angles we need to set a targen point

• ### Design of an Five Link Mechanism Levers and Holders

Sergei V. Bogdanov04/12/2018 at 12:44 0 comments

We construct and design the levers and holders for a Five Link Mechanism

The most difficult is design of a hole for servo shaft. We made it by drilling of  some amount of  0.8 mm diameter holes. We use servo s9g. The shaft of s9g is 20-tooth gearwheel. We drill 21 hole of diameter 0.8 mm, the radius of the guide circle is 1.87 mm. Here You can see

• ### Proposition Of real Mechanism

Sergei V. Bogdanov03/26/2018 at 22:09 0 comments

We make some simple model to test the math.

1, 2 – Servo S9G

3,4 – Servo brackets

5,6 – Low levers of FLM

7,8 – Upper levers of FLM

9 - Central hinge with pusher.

10,11 – Servo brackets holders

And the example of upper lever with Q=20, number 7 right up.

And the schematics for two servo and two potentiometers. See the program code for Arduino in "files".

• ### Design of Five Link Mechanism- mathematics model

Sergei V. Bogdanov03/25/2018 at 16:10 0 comments

We calculated the Mathematical Model of a Five Link Mechanism.

We can now calculate the angles of  servo drives to readh the target point.

• 1
How to make 2d plane Five Link Mechanism

We make model with   LED display. We use folder tablet for paper as an base, and diagram millimeter paper. Let us see the schematics and the photo of the Model. We use plane We can tune the angles of servos   ϕ and ψ by means of multy-turn potenriometers 3 and 4 , connected with A0 and A1 Arduino Uno inputs, toggle button 4 for mode switch and one single-turn potentiometer to control the speed in “Auto” mode. Here we use two 4-symbole LED display 7.

Arduino Uno is controller PCB 8, and cable 9 is connected with power supply- USB computer port or power bank.

The program for Arduino Uno is on the Hack-a-Day file store.

Science is fun. Sincerely Youth – Robots from ChG.

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