Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage
Andreas Mueller
本文重温了卡尔·沃尔哈特(Karl Wohlhart)在ARK 2004年的论文中提出的三环空间联动(作为Eddie Baker于1980年提出的双环联动的延伸),后来在2006年ARK论文中分析了Diez-Martinez等人。 局部分析表明,这种链接具有有限的自由度(DOF)3(因此过度受限),而在其参考配置中,差分DOF为5。 表明其配置空间在本地是平滑的流形,因此引用配置不是c空间奇点。 表明差分DOF是局部常数,这使得这种联动不稳定(因此参考配置不是奇点)。 通过计算动态切锥体以及c空间的局部近似来促进高阶局部分析。
This paper revisits a three-loop spatial linkage that was proposed in an ARK 2004 paper by Karl Wohlhart (as extension of a two-loop linkage proposed by Eddie Baker in 1980) and later analyzed in an ARK 2006 paper by Diez-Martinez et. al. A local analysis shows that this linkage has a finite degree of freedom (DOF) 3 (and is thus overconstrained) while in its reference configuration the differential DOF is 5. It is shown that its configuration space is locally a smooth manifold so that the refer...