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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Synthesis of Spatial Chains with Reachable Surfaces
verfasst von : J. Michael McCarthy, Gim Song Soh
Erschienen in: Geometric Design of Linkages
Verlag: Springer New York
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In this chapter, we consider the design of spatial serial chains that guide a body such that a point in the body moves on a specific algebraic surface. The problem originates with Schoenflies [113], who sought points that remained in a given configuration for a given set of spatial displacements. Burmester [7] applied this idea to planar mechanism design by seeking the points in a planar moving body that remain on a circle. Chen and Roth [10] generalized this problem to find points and lines in a moving body that take positions on surfaces associated with the articulated chains used to build robot manipulators.