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

DOI10.1016/J.JSC.2014.09.035zbMATH Open1305.70006arXiv1309.6558OpenAlexW1973320058MaRDI QIDQ480683FDOQ480683

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)

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.

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

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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)

Cites Work

• Geometric Fundamentals of Robotics
• Title not available (Why is that?)
• Title not available (Why is that?)
• Classification of 5R closed kinematic chains with self mobility.
• Displacement-closure equations of the unspecialised double-Hooke's-joint linkage
• Algebraic Geometry and Kinematics

Cited In (9)

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

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