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arXiv · 2509.14698

Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage

Andreas Mueller
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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.

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BibTeXRIS

Andreas Mueller. 2025-09-18. Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage. https://doi.org/10.1007/978-3-030-50975-0_16

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