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arXiv · 1309.6558

The Theory of Bonds II: Closed 6R Linkages with Maximal Genus

Gábor Hegedüs·Zijia Li·Josef Schicho·Hans-Peter Schröcker
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Abstract

In this paper, we introduce a method that allows to produce necessary conditions on the Denavit--Hartenberg parameters for the mobility of a closed linkage with six rotational joints. We use it to prove that the genus of the configuration curve of a such a linkage is at most five, and to give a complete classification of the linkages with a configuration curve of degree four or five. The classification contains new families.

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Gábor Hegedüs, Zijia Li, Josef Schicho, Hans-Peter Schröcker. 2013-09-25. The Theory of Bonds II: Closed 6R Linkages with Maximal Genus. https://doi.org/10.1016/j.jsc.2014.09.035

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