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.  

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

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

If You have other than s9g servos, You have to rearrange the 21-hole figure.
And we made servo holders

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".

We calculated the Mathematical Model of a Five Link Mechanism.

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

We can calculate now the track from angles as arguments and the angles as functions of target point coordinates. Here is an example of calculations.