Paper Info
Title
Optimal Synthesis of Overconstrained 6R Linkages by Curve Evolution.
Abstract
The paper presents an optimal synthesis of overconstrained linkages, based on the factorization of rational curves (representing one parametric motions) 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. The metric will measure the distance (in Euclidean sense) between the two resulting vectors of the feature points displaced by the two motions. The evolution is driven by the normal velocity of the curve projected in the direction of the target points. In the end we present an example for the optimal synthesis of an overconstrained 6R linkage by choosing a set of target poses and explaining in steps how this approach is implemented.
Year
DOI
Venue
2017
10.1007/978-3-319-60867-9_61
Mechanisms and Machine Science
Keywords
Field
DocType
Optimal mechanism synthesis,Curve evolution,Kinematic mapping,Motion factorization,Overconstrained linkage
Topology,Affine space,Linkage (mechanical),Robot end effector,Parametric statistics,Mass distribution,Factorization,Euclidean geometry,Quadric,Mathematics
Journal
Volume
ISSN
Citations 
50
2211-0984
0
PageRank 
References 
Authors
0.34
5
2
Name
Order
Citations
PageRank
Tudor-Dan Rad111.06
Hans-Peter Schröcker26013.17