Four-Pose Synthesis of Angle-Symmetric 6R Linkages

Abstract

We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a one-parametric family of solutions. We suggest strategies for picking good solutions from this family.

References in corpus (1)

• Classification of Angle-Symmetric 6R Linkage

Cited by in corpus (8)

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• Factorization of Dual Quaternion Polynomials Without Study's Condition
• The Kinematic Image of RR, PR, and RP Dyads
• Rational Linkages: From Poses to 3D-printed Prototypes
• Rational Motions of Minimal Quaternionic Degree with Prescribed Line Trajectories