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arXiv · 2103.04799

Classification of higher Mobility closed-loop Linkages

Tiago Duarte Guerreiro·Zijia Li·Josef Schicho
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Abstract

We provide a complete classification of paradoxical closed-loop $n$-linkages, where $n\geq6$, of mobility $n-4$ or higher, containing revolute, prismatic or helical joints. We also explicitly write down strong necessary conditions for $nR$-linkages of mobility $n-5$. Our main new tool is a geometric relation between a linkage $L$ and another linkage $L'$ resulting from adding equations to the configuration space of $L$. We then lift known classification results for $L'$ to $L$ using this relation.

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BibTeXRIS

Tiago Duarte Guerreiro, Zijia Li, Josef Schicho. 2021-03-08. Classification of higher Mobility closed-loop Linkages. https://arxiv.org/abs/2103.04799

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