Some Remarks on the RRR Linkage

Jon Selig

doi:10.1007/978-3-319-06698-1_9

Some Remarks on the RRR Linkage

Jon Selig

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

The variety of rigid-body displacements of the final link of a 3 R kinematic chain are investigated. In most cases the variety generated is a Segre manifold; the Cartesian product of three projective lines. The homology of this variety as a subvariety of the Study quadric is found and simple applications to some enumerative problems in kinematics are given. The conditions for the variety to fail to be a Segre variety are investigated in full and the case where the linkage forms the first three joints of a Bennett mechanism is examined.

Original language	English
Title of host publication	Advances in robot kinematics: analysis and design
Place of Publication	Switzerland
Publisher	Springer
Number of pages	9
DOIs	https://doi.org/10.1007/978-3-319-06698-1_9
Publication status	Published - 3 Jul 2014
Externally published	Yes

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Some Remarks on the RRR Linkage

Abstract

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