Classification of Higher Mobility Linkages

8 Mar 2021  ·  Tiago Guerreiro, Zijia Li, Josef Schicho ·

We provide a complete classification of paradoxical $n$-linkages, $n\geq6$ whose mobility is $n-4$ or higher containing $R$, $P$ or $H$ joints. We also explicitly write down strong necessary conditions for $nR$-linkages of mobility $n-5$...

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Computational Geometry Robotics Symbolic Computation Algebraic Geometry Rings and Algebras

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