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This study deals with the forward and inverse kinematic analysis and synthesis of the five-bar structure 5-RRRRR. The synthesis equations allow the analytical computation of the link lengths of a symmetrical five-bar linkage using only revolute joints to avoid the singularities in an imposed dexterous workspace. A numerical example of the symmetrical five-bar linkage is analyzed and synthetized theoretically and characterized by computing the performance indices. The tests on an experimental model of the five-bar linkage 5-RRRRR confirm the singularity-free dexterous workspace.<\/jats:p>","DOI":"10.1017\/s0263574723001042","type":"journal-article","created":{"date-parts":[[2023,8,11]],"date-time":"2023-08-11T09:41:19Z","timestamp":1691746879000},"page":"3361-3379","source":"Crossref","is-referenced-by-count":13,"title":["Design of the five-bar linkage with singularity-free workspace"],"prefix":"10.1017","volume":"41","author":[{"given":"Tivadar","family":"Demjen","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8661-1392","authenticated-orcid":false,"given":"Erwin-Christian","family":"Lovasz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9388-4391","authenticated-orcid":false,"given":"Marco","family":"Ceccarelli","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Carmen","family":"Sticlaru","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Antonio-Marius-Flavius","family":"Lupu\u0163i","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexandru","family":"Oarcea","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dan-Cristian","family":"Silaghi-Perju","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2023,8,11]]},"reference":[{"key":"S0263574723001042_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2012.10.002"},{"key":"S0263574723001042_ref28","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-87383-7_50"},{"key":"S0263574723001042_ref1","unstructured":"[1] Tempea, I. , Neac\u015fa, M. and Livadariu, A. , \u201cA New Acting Solution of a Double SCARA Robot,\u201d In: Proceedings of the 3rd International Conference on \u201cComputational Mechanics and Virtual Engineering\u201d COMEC 2009, Brasov (2009) pp. 765\u2013770."},{"key":"S0263574723001042_ref26","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574723001042_ref30","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"S0263574723001042_ref20","doi-asserted-by":"publisher","DOI":"10.21595\/jve.2021.22131"},{"key":"S0263574723001042_ref4","doi-asserted-by":"publisher","DOI":"10.1088\/1757-899X\/692\/1\/012029"},{"key":"S0263574723001042_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.05.004"},{"key":"S0263574723001042_ref33","first-page":"749","article-title":"Motion transmissibility of in-parallel actuated manipulators","volume":"38","author":"Takeda","year":"1995","journal-title":"JSME Int. 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