Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage
Abstract
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and later analyzed in an ARK 2006 paper by Diez-Martinez et. al. A local analysis shows that this linkage has a finite degree of freedom (DOF) 3 (and is thus overconstrained) while in its reference configuration the differential DOF is 5. It is shown that its configuration space is locally a smooth manifold so that the reference configuration is not a c-space singularity. It is shown that the differential DOF is locally constant, which makes this linkage shaky (so that the reference configuration is not a singularity). The higher-order local analysis is facilitated by the computation of the kinematic tangent cone as well as a local approximation of the c-space.
Cite
@article{arxiv.2509.14698,
title = {Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage},
author = {Andreas Mueller},
journal= {arXiv preprint arXiv:2509.14698},
year = {2025}
}