Spatial Straight Line Linkages by Factorization of Motion Polynomials
Metric Geometry
2018-07-31 v2 Robotics
Rings and Algebras
Abstract
We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph is a cycle. In particular, we obtain a number of linkages with four revolute and two prismatic joints and a remarkable linkage with seven revolute joints one of whose joints performs a Darboux motion.
Cite
@article{arxiv.1410.2752,
title = {Spatial Straight Line Linkages by Factorization of Motion Polynomials},
author = {Zijia Li and Josef Schicho and Hans-Peter Schröcker},
journal= {arXiv preprint arXiv:1410.2752},
year = {2018}
}
Comments
Corrected author name