nine-bar structure. the univariate polynomial of degree 16 of this system can be computed in...
Post on 18-Dec-2015
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Nine-bar structure
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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
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Dixon‘s mechanisms
Theorem: Dixon‘s mechanisms are the only movable 9-bar structures
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Nine-bar structure (3-D version)
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Methods to generate the polynomials
1. Parameter elimination (implicitation)
2. Geometric properties of the mechanism
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Left and right translations on S62
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Left and right translations on S62
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Direct Kinematics of Stewart-Gough Platforms
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Direct Kinematics of Stewart-Gough Platforms
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Direct Kinematics of Stewart-Gough Platforms
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Direct Kinematics of Stewart-Gough Platforms
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Singularity
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Workspace and singularities of 3-R robots