2000 character limit reached
Rational Linkages: From Poses to 3D-printed Prototypes
Published 1 Mar 2024 in cs.RO | (2403.00558v2)
Abstract: In this paper, a set of tools is introduced that simplifies the synthesis and rapid-prototyping of single-loop rational kinematic chains. It allows the user to perform rational motion interpolation of up to four given poses and yields the design parameters of a linkage that can execute this motion. The package also provides a visualization of the output and performs a self-collision analysis with the possibility to adapt the design parameters. The results can be imported into CAD-systems for fast 3D printing.
- “Invertible Paradoxic Loop Structures for Transformable Design” In Computer Graphics Forum 39.2 Wiley, 2020, pp. 261–275 DOI: 10.1111/cgf.13928
- Y. Yihun, K.W. Bosworth and A. Perez-Gracia “Link-Based Performance Optimization of Spatial Mechanisms” In Journal of Mechanical Design 136.12 ASME International, 2014 DOI: 10.1115/1.4028304
- A. Dogra, S. Sekhar Padhee and E. Singla “Optimal Synthesis of Unconventional Links for Modular Reconfigurable Manipulators” In Journal of Mechanical Design ASME International, 2022 DOI: 10.1115/1.4054336
- “Multirepresentations and Multiconstraints Approach to the Numerical Synthesis of Serial Kinematic Structures of Manipulators” In IEEE Access 10, 2022, pp. 68937–68951 DOI: 10.1109/ACCESS.2022.3186098
- “Type Synthesis of Walking Robot Legs” In Chinese Journal of Mechanical Engineering 31.1 Springer ScienceBusiness Media LLC, 2018 DOI: 10.1186/s10033-018-0216-7
- “Kinematic synthesis method for the one-degree-of-freedom jumping leg mechanism of a locust-inspired robot” In Science China Technological Sciences 63.3 Springer ScienceBusiness Media LLC, 2019, pp. 472–487 DOI: 10.1007/s11431-019-9750-6
- G. Hegedüs, J. Schicho and H.-P. Schröcker “Four-Pose Synthesis of Angle-Symmetric 6R Linkages” In Journal of Mechanisms and Robotics 7.4 ASME International, 2015 DOI: 10.1115/1.4029186
- G. Hegedüs, J. Schicho and H.-P. Schröcker “Construction of Overconstrained Linkages by Factorization of Rational Motions” In Latest Advances in Robot Kinematics Springer Netherlands, 2012, pp. 213–220 DOI: 10.1007/978-94-007-4620-6_27
- G. Hegedüs, J. Schicho and H.-P. Schröcker “Factorization of rational curves in the Study quadric” In Mechanism and Machine Theory 69 Elsevier BV, 2013, pp. 142–152 DOI: 10.1016/j.mechmachtheory.2013.05.010
- “Computational Line Geometry” In Mathematics and Visualization Springer, 2001 DOI: 10.1007/978-3-642-04018-4
- “Theoretical Kinematics” North-Holland Publishing Company, 1979
- D. Thimm “Biquaternion-py – Documentation” [Online] Accessed: 2024-01-15, https://biquaternion-py.readthedocs.io
- D. Huczala “Rational Linkages – Documentation” [Online] Accessed: 2024-01-15, https://rational-linkages.readthedocs.io/latest/tutorials/ark2024.html
- D. Huczala “Rational Linkages – source code repository” GitLab instance of the University of Innsbruck (UIBK). [Online] Accessed: 2024-01-15, https://git.uibk.ac.at/geometrie-vermessung/rational-linkages
- K. Brunnthaler, H.-P. Schröcker and M. Husty “A new method for the synthesis of Bennett mechanisms” In International Workshop on Computational Kinematics, 2005
- D. Huczala “Rational Linkages – example of Bennett mechanism (CAD models weblinks and STLs)” DOI: 10.5281/zenodo.10479379 Zenodo, https://zenodo.org/doi/10.5281/zenodo.10479379, 2024
- “An Automated Conversion Between Selected Robot Kinematic Representations” In 2022 10th International Conference on Control, Mechatronics and Automation (ICCMA) IEEE, 2022 DOI: 10.1109/iccma56665.2022.10011595
- “Finding Optimal Manipulator Arm Shapes to Avoid Collisions in a Static Environment” In Applied Sciences MDPI AG, 2020 DOI: 10.3390/app11010064
- “The Effect of Deformation on Robot Shape - Changing Link” In Mechanisms and Machine Science Springer Nature Switzerland, 2023, pp. 461 DOI: 10.1007/978-3-031-32606-6_54
- Johannes Gerstmayr “Exudyn – a C++-based Python package for flexible multibody systems” In Multibody System Dynamics Springer ScienceBusiness Media LLC, 2023 DOI: 10.1007/s11044-023-09937-1
Paper Prompts
Sign up for free to create and run prompts on this paper using GPT-5.
Top Community Prompts
Collections
Sign up for free to add this paper to one or more collections.