The theory of bonds. II: Closed 6R linkages with maximal genus

DOI10.1016/J.JSC.2014.09.035MaRDI QIDQ480683zbMATH OpenOpenAlexFDO

Authors Gábor Hegedüs, Zijia Li, Josef Schicho, Hans-Peter Schröcker

Publication date 9 December 2014

Published in Journal of Symbolic Computation (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1309.6558

zbMATH Keywords

genusdual quaternionoverconstrained 6R linkagequad polynomials

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Applications of commutative algebra (e.g., to statistics, control theory, optimization, etc.) (13P25) Computational aspects in algebraic geometry (14Q99) Projective techniques in algebraic geometry (14N05)

Abstract: In this paper, we introduce a method that allows to produce necessary conditions on the Denavit--Hartenberg parameters for the mobility of a closed linkage with six rotational joints. We use it to prove that the genus of the configuration curve of a such a linkage is at most five, and to give a complete classification of the linkages with a configuration curve of degree four or five. The classification contains new families.

Recommendations

• Classification of higher mobility closed-loop linkages
• A survey on the theory of bonds
• The geometry of configuration spaces for closed chains in two and three dimensions
• Liaison linkages
• Classification of 5R closed kinematic chains with self mobility.

Cites work

• scientific article; zbMATH DE number 3165991 (Why is no real title available?)
• scientific article; zbMATH DE number 52607 (Why is no real title available?)
• Algebraic Geometry and Kinematics
• Classification of 5R closed kinematic chains with self mobility.
• Displacement-closure equations of the unspecialised double-Hooke's-joint linkage
• Geometric Fundamentals of Robotics

Cited in

(9)

• Interlocked open linkages with few joints
• Classification of 5R closed kinematic chains with self mobility.
• On the number of perfect triangles with a fixed angle
• Some properties of linkage mappings
• Classification of higher mobility closed-loop linkages
• A survey on the theory of bonds
• On the Existence of Paradoxical Motions of Generically Rigid Graphs on the Sphere
• Liaison linkages
• Displacement-closure equations of the unspecialised double-Hooke's-joint linkage

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