Five bar parallel plotter based on construction kits and open source development environment

Rolf Roskam, Luc Rolland

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)
25 Downloads (Pure)


Five bar parallel kinematics are widely used for robots in industry, research and education. In this paper a five bar parallel plotter (FiBaPlot) is presented. With a plotting feature a simple accuracy check can be carried out. Hence the FiBaPlot is suitable for teaching and research issue. In this paper the development of a low cost FiBaPlot is described. The mechanical design is based only on construction kits. The plotter is controlled by a dual core ARM microcontroller. The electronic interface as well as the open source in the system (OSiS) with an integrated development environment (IDE) is presented. OSiS is based on the open source program Scilab/XCOS and is able to generate automatic code for rapid control prototyping. Finally, the use of FiBaPlot in a student project is presented.
Original languageEnglish
Title of host publication2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)
Place of PublicationPiscataway, NJ
Number of pages6
ISBN (Electronic)9781665410731, 9781665410724, 9781665410748
Publication statusPublished - 21 Dec 2021


  • five bar parallel kinematics
  • rapid control prototype
  • plotting


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