Synthesis of three-revolute spatial chains for body guidance

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• 作者：Jonathan D. Hauenstein^a ; ; Charles W. Wampler^b ; Martin Pfurner^c
• 关键词：Kinematics ; Mechanism synthesis ; Body guidance ; Numerical algebraic geometry ; Polynomial continuation
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：110
• 期：Complete
• 页码：61-72
• 全文大小：845 K
• 卷排序：110

文摘

Develop a new formulation for the synthesis of 3R spatial chains for body guidance. Solve, for the first time, the 5-pose synthesis problem which has 456 solutions. Use parameter homotopies to solve other 5-pose synthesis problems. Solve underconstrained synthesis problems using numerical algebraic geometry. Solve 3- and 4-pose synthesis problems by specifying Denavit-Hartenberg parameters.