Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5019010 | Mechanism and Machine Theory | 2017 | 12 Pages |
Abstract
For a given mechanism type, the solution set of a body guidance synthesis problem comprises all mechanisms whose end-effector can reach a set of prescribed poses (position and orientation). For three-revolute spatial chains, five general poses will yield a synthesis problem having only finitely many solutions, while specifying fewer than five poses leads to higher-dimensional solution sets. We use numerical algebraic geometry to compute solution sets for two to five general poses, and in particular, we find, for the first time, that the five-pose synthesis problem generically has 456 solutions. We also show how our results agree with and extend results in the literature.
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Authors
Jonathan D. Hauenstein, Charles W. Wampler, Martin Pfurner,