Constraint synthesis for planar n-R robots

DOI10.1007/978-1-4020-4941-5_43MaRDI QIDQ3196262zbMATH OpenOpenAlexFDO

Authors Gim Song Soh, J. Michael McCarthy

Publication date 29 October 2015

Published in Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-4941-5_43

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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(5)

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• Synthesis of constrained nR planar robots to reach five task positions
• The synthesis of six-bar linkages as constrained planar 3R chains
• The kinematic image of 2R dyads and exact synthesis of 5R linkages

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