nine-bar structure. the univariate polynomial of degree 16 of this system can be computed in...
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Nine-bar structure
Nine-bar structure
The univariate polynomial of degree 16 of this system can be computed in general!
It can be used
1. to find the maximum number of real solutions
2. To find all exceptional mechanisms
D. Walter et.al. 2007
Dixon‘s mechanisms
Theorem: Dixon‘s mechanisms are the only movable 9-bar structures
Nine-bar structure (3-D version)
Methods to generate the polynomials
1. Parameter elimination (implicitation)
2. Geometric properties of the mechanism
Left and right translations on S62
Left and right translations on S62
Direct Kinematics of Stewart-Gough Platforms
Direct Kinematics of Stewart-Gough Platforms
Direct Kinematics of Stewart-Gough Platforms
Direct Kinematics of Stewart-Gough Platforms
Singularity
Workspace and singularities of 3-R robots
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