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Computer Science > Robotics

arXiv:2403.00558 (cs)
[Submitted on 1 Mar 2024 (v1), last revised 8 Jul 2024 (this version, v2)]

Title:Rational Linkages: From Poses to 3D-printed Prototypes

Authors:Daniel Huczala, Johannes Siegele, Daren A. Thimm, Martin Pfurner, Hans-Peter Schröcker
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Abstract:In this paper, a set of tools is introduced that simplifies the synthesis and rapid-prototyping of single-loop rational kinematic chains. It allows the user to perform rational motion interpolation of up to four given poses and yields the design parameters of a linkage that can execute this motion. The package also provides a visualization of the output and performs a self-collision analysis with the possibility to adapt the design parameters. The results can be imported into CAD-systems for fast 3D printing.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2403.00558 [cs.RO]
  (or arXiv:2403.00558v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2403.00558
Journal reference: Advances in Robot Kinematics 2024. ARK 2024. Springer Proceedings in Advanced Robotics, vol 31
Related DOI: https://doi.org/10.1007/978-3-031-64057-5_27

Submission history

From: Daniel Huczala [view email]
[v1] Fri, 1 Mar 2024 14:33:51 UTC (1,232 KB)
[v2] Mon, 8 Jul 2024 07:47:29 UTC (1,232 KB)
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