Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and later analyzed in an ARK 2006 paper by Diez-Martinez et. al. A local analysis shows that this linkage has a finite degree of freedom (DOF) 3 (and is thus overconstrained) while in its reference configuration the differential DOF is 5. It is shown that its configuration space is locally a smooth manifold so that the reference configuration is not a c-space singularity. It is shown that the differential DOF is locally constant, which makes this linkage shaky (so that the reference configuration is not a singularity). The higher-order local analysis is facilitated by the computation of the kinematic tangent cone as well as a local approximation of the c-space.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
One-DoF Robotic Design of Overconstrained Limbs with Energy-Efficient, Self-Collision-Free Motion
While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustn…
Evolutionary Morphology Towards Overconstrained Locomotion via Large-Scale, Multi-Terrain Deep Reinforcement Learning
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class …
Deep Reinforcement LearningTripody: An Overconstrained 3-SPR-like Parallel Robot for High-Reach Construction Tasks
Many ceiling construction tasks still rely on heavy serial manipulators that are difficult to deploy in cluttered interiors, motivating lightweight, field-ready alternatives that reach ceiling height while maintaining mi…
Adaptively Meshed Video Stabilization
Video stabilization is essential for improving visual quality of shaky videos. The current video stabilization methods usually take feature trajectories in the background to estimate one global transformation matrix or s…
BlockingMotion EstimationVideo StabilizationA Generalized Theory of Load Distribution in Redundantly-actuated Robotic Systems
This paper presents a generalized theory which describes how applied loads are distributed within rigid bodies handled by redundantly-actuated robotic systems composed of multiple independent closed-loop kinematic chains…