Abstract
In this work, mechanisms that admit efficient kinematic computation are studied. The computational efficient mechanisms are a special class of linkages that their constraint equations contain lower-order terms than the ordinary linkages. The lower-order constraint equations are of lower complexity of computation and thus readily solved. In the paper, we examine the existence of such kinds of linkages. Examples of computational mechanisms are provided for the five-bar spherical linkage and the 3-RRR spherical parallel mechanism.
| Original language | English |
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| Title of host publication | Advances in Robot Kinematics 2024 |
| Editors | Jadran Lenarčič, Manfred Husty |
| Number of pages | 9 |
| Publisher | Springer Nature |
| Publication date | 2024 |
| Pages | 356-364 |
| ISBN (Print) | 9783031640568 |
| DOIs | |
| Publication status | Published - 2024 |
| Event | 19th Symposium on Advances in Robot Kinematics, ARK 2024 - Ljubljana, Slovenia Duration: 30 Jun 2024 → 4 Jul 2024 |
Conference
| Conference | 19th Symposium on Advances in Robot Kinematics, ARK 2024 |
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| Country/Territory | Slovenia |
| City | Ljubljana |
| Period | 30/06/2024 → 04/07/2024 |
| Series | Springer Proceedings in Advanced Robotics |
|---|---|
| Volume | 31 SPAR |
| ISSN | 2511-1256 |
Bibliographical note
Publisher Copyright:© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
Keywords
- computational efficiency
- computational kinematics
- non-orthogonal coordinate frame
- spherical linkages
- spherical parallel mechanisms (SPM)