Research Papers

Spatial Straight-Line Linkages by Factorization of Motion Polynomials

[+] Author and Article Information
Zijia Li

Johann Radon Institute for Computational
and Applied Mathematics,
Austrian Academy of Sciences,
Linz, 4040, Austria
e-mail: zijia.li@oeaw.ac.at

Josef Schicho

Johann Radon Institute for Computational
and Applied Mathematics,
Austrian Academy of Sciences,
Linz, 4040, Austria
e-mail: josef.schicho@risc.jku.at

Hans-Peter Schröcker

Unit Geometry and CAD,
University Innsbruck,
Innsbruck, 6020, Austria
e-mail: hans-peter.schroecker@uibk.ac.at

Manuscript received October 21, 2014; final manuscript received September 21, 2015; published online November 24, 2015. Assoc. Editor: J. M. Selig.

J. Mechanisms Robotics 8(2), 021002 (Nov 24, 2015) (6 pages) Paper No: JMR-14-1297; doi: 10.1115/1.4031806 History: Received October 21, 2014; Revised September 21, 2015; Accepted September 29, 2015

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight-line trajectory. Unlike previous examples of such linkages by other authors, they are single-loop linkages and the end-effector motion is not translational. In particular, we obtain a number of linkages with four revolute and two prismatic joints and a remarkable linkage with seven revolute joints one of whose joints performs a Darboux motion.

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Grahic Jump Location
Fig. 1

An RPRRPR linkage with a straight-line trajectory

Grahic Jump Location
Fig. 2

A 7R linkage that generates a nonvertical Darboux motion




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