The Kinematic Image of 2R Dyads and Exact Synthesis of 5R Linkages

DOI10.19124/IMA.2015.001.16zbMATH Open1500.70001arXiv1503.04566OpenAlexW2964313090MaRDI QIDQ5092747

Hans-Peter Schröcker, Tudor-Dan Rad

Publication date: 22 July 2022

Published in: Proceedings of the IMA Conference on Mathematics of Robotics (Search for Journal in Brave)

Abstract: We characterise the kinematic image of the constraint variety of a 2R dyad as a regular ruled quadric in a 3-space that contains a "null quadrilateral". Three prescribed poses determine, in general, two such quadrics. This allows us to modify a recent algorithm for the synthesis of 6R linkages in such a way that two consecutive revolute axes coincide, thus producing a 5R linkage. Using the classical geometry of twisted cubics on a quadric, we explain some of the peculiar properties of the the resulting synthesis procedure for 5R linkages.

Full work available at URL: https://arxiv.org/abs/1503.04566

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Kinematics of mechanisms and robots (70B15)

Related Items (1)

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