Optimal Synthesis of Overconstrained 6R Linkages by Curve Evolution
نویسندگان
چکیده
The paper presents an optimal synthesis of overconstrained linkages, based on the factorization of rational curves 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. In the end we present an example for the optimal synthesis of an overconstrained 6R linkage.
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ورودعنوان ژورنال:
- CoRR
دوره abs/1702.00019 شماره
صفحات -
تاریخ انتشار 2017