Aiming at hybrid-driven planar five-bar parallel mechanism

firstly

the relation between the position of the working point and the input corner of normal motor together with the servomotor is derived based on the plural equations of the close links.Under the premise of the mechanism in line with the hybrid-driven planar five-bar mechanism

the relation derived above can be used to make an exact and efficient orientation of the working point.In addition

a workspace drawing of the working point with different assembly angles is derived by using Matlab

and the scope of working point could be achieved is expressed intuitive.Finally

considering the consistent existence of the manufacturing and the assembly error

the principle of error superposition is applied in the quantitative analysis of the error influence on the accuracy of workspace

which has great practical significance.