利用 Solvespae、NX、Onshape 或其他 CAD 套件建立下列的五軸機械臂零組件。
驅動設計請採用 NEMA (National Electrical Manufacturers Association) 17 步進馬達:
法蘭 (Flange) 尺寸 1.7 英吋: 約 43.2 mm x 43.2 mm
軸心直徑: 5 mm
螺絲孔間距: 約 31 mm
長度 (厚度): 通常為 34~60 mm
步進角: 一般為 1.8°（每轉 200 步）
驅動電壓與電流: 視型號而定，常見如 12V, 1~2A
https://blog.rectorsquid.com/linkage-mechanism-designer-and-simulator/
5-bar
plotter.7z (in Solvespace)
fivebar_parallel_linkage.7z (in Solidworks and NX2312)
https://github.com/mdecycu/5-Bar-Parallel-Robot-Kinematics-Simulation
https://github.com/mdecycu/parallel-five-bar-robot
https://github.com/mdecycu/five_bar_linkage
https://github.com/mdecycu/FrostBot
https://github.com/mdecycu/Robot-Sketcher-5-bar-parallel-manipulator-
https://www.researchgate.net/publication/277299749_User's_manual_for_the_DexTAR_five-bar_parallel_robot
https://www.mathworks.com/help/sm/ug/five-bar-robot.html
Optimal Design of a Five-Bar Planar Manipulator and Its Controller by Using Different Algorithms for Minimum Shaking Forces and Moments for the Largest Trajectory in a Usable Workspace
Kinematic calibration of a five-bar planar parallel robot using all working modes
Concurrent Design of a 2 Dof Five-Bar Parallel Robot a Hybrid Design of Rigid and Flexible Links
Kinematic Analysis of Five-Bar Mechanism.pdf
Kinematic Design of Five-Bar Parallel Robot by Kinematically Defined Performance Index for Energy Consumption
https://github.com/Phylliade/ikpy
https://hackaday.io/project/173325-educational-five-bar-parallel-robot
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