Five-bar linkage

2 DOF five-bar mechanism with two input angles θ1 and θ2 and a geared mechanism, where the two disks represent meshing gears which are fixed to their corresponding links

In kinematics, a five-bar linkage is a mechanism with two degrees of freedom that is constructed from five links that are connected together in a closed chain. All links are connected to each other by five joints in series forming a loop. One of the links is the ground or base. This configuration is also called a pantograph, however, it is not to be confused with the parallelogram-copying linkage pantograph.

The linkage can be a one-degree-of-freedom mechanism if two gears are attached to two links and are meshed together, forming a geared five-bar mechanism.

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