Spatial Straight Line Linkages by Factorization of Motion Polynomials

Abstract

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph is a cycle. In particular, we obtain a number of linkages with four revolute and two prismatic joints and a remarkable linkage with seven revolute joints one of whose joints performs a Darboux motion.

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References in corpus (2)

• Factorization of Rational Curves in the Study Quadric and Revolute Linkages
• Four-Pose Synthesis of Angle-Symmetric 6R Linkages

Cited by in corpus (6)

• The Rational Motion of Minimal Dual Quaternion Degree With Prescribed Trajectory
• Quadratic Split Quaternion Polynomials: Factorization and Geometry
• Factorization of Motion Polynomials
• The Kinematic Image of RR, PR, and RP Dyads
• Factorization of Rational Motions: A Survey with Examples and Applications
• 7R Darboux Linkages by Factorization of Motion Polynomials