This paper constructs overconstrained P5R closed linkages by merging a P4R linkage and a Goldberg 5R linkage. The construction uses bond theory and motion polynomial factorization. To our knowledge, this linkage is new, and it is the only known overconstrained P5R linkage that has no parallel joint-axes or concurrent joint-axes.
A New Family of Overconstrained P5R-Mechanisms
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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