We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight-line trajectory. Unlike previous examples of such linkages by other authors, they are single-loop linkages and the end-effector motion is not translational. 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.
Spatial Straight-Line Linkages by Factorization of Motion Polynomials
Manuscript received October 21, 2014; final manuscript received September 21, 2015; published online November 24, 2015. Assoc. Editor: J. M. Selig.
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Li, Z., Schicho, J., and Schröcker, H. (November 24, 2015). "Spatial Straight-Line Linkages by Factorization of Motion Polynomials." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021002. https://doi.org/10.1115/1.4031806
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