Factorization of Rational Curves in the Study Quadric and Revolute Linkages
arXiv:1202.0139 · doi:10.1016/j.mechmachtheory.2013.05.010
Abstract
Given a generic rational curve in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly . Our construction is based on the factorization of polynomials over dual quaternions. Low degree examples include the Bennett mechanisms and contain new types of overconstrained 6R-chains as sub-mechanisms.
Changed arxiv abstract, corrected some types
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