7R Darboux Linkages by Factorization of Motion Polynomials
Robotics
2015-06-30 v2 Metric Geometry
Abstract
In this paper, we construct two types of 7R closed single loop linkages by combining different factorizations of a general (non-vertical) Darboux motion. These factorizations are obtained by extensions of a factorization algorithm for a generic rational motion. The first type of 7R linkages has several one-dimensional configuration components and one of them corresponds to the Darboux motion. The other type is a 7R linkage with two degrees of freedom and without one-dimensional component. The Darboux motion is a curve in an irreducible two dimensional configuration component.
Cite
@article{arxiv.1501.07365,
title = {7R Darboux Linkages by Factorization of Motion Polynomials},
author = {Zijia Li and Josef Schicho and Hans-Peter Schröcker},
journal= {arXiv preprint arXiv:1501.07365},
year = {2015}
}
Comments
To be published in the proceedings of the 14th IFToMM World Congress, Taipei, 2015