An Overconstrained Vertical Darboux Mechanism
Robotics
2023-08-01 v1 Algebraic Geometry
Abstract
In this article, we will construct an overconstrained closed-loop linkage consisting of four revolute and one cylindrical joint. It is obtained by factorization of a prescribed vertical Darboux motion. We will investigate the kinematic behaviour of the obtained mechanism, which turns out to have multiple operation modes. Under certain conditions on the design parameters, two of the operation modes will correspond to vertical Darboux motions. It turns out, that for these design parameters, there also exists a second assembly mode.
Cite
@article{arxiv.2307.16546,
title = {An Overconstrained Vertical Darboux Mechanism},
author = {Johannes Siegele and Martin Pfurner},
journal= {arXiv preprint arXiv:2307.16546},
year = {2023}
}