arXiv:1202.0139
Factorization of Rational Curves in the Study Quadric and Revolute Linkages
Factorization of Rational Curves in the Study Quadric and Revolute Linkages
著者: Gábor Hegedüs, Josef Schicho, Hans-Peter Schröcker
分類: math.RA, cs.RO, math.AG
原文アブストラクト
Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual quaternions. Low degree examples include the Bennett mechanisms and contain new types of overconstrained 6R-chains as sub-mechanisms.