Classification of angle-symmetric 6R linkages
نویسندگان
چکیده
منابع مشابه
Classification of Angle-Symmetric 6R Linkage
In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite joints. We give a classification of these linkages. It turns that there are three types. First, we have the linkages with line symmetry. The second type is new. T...
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The paper presents an optimal synthesis of overconstrained linkages, based on the factorization of rational curves contained in Study’s quadric. The group of Euclidean displacements is embedded in a affine space where a metric between motions based on the homogeneous mass distribution of the end effector is used to evolve the curves such that they are fitted to a set of target poses. In the end...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2013
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2013.08.002