Abstract
This paper deals with kinematic design of linkages with motion symmetries. It develops a theoretical framework for such kinematic constructions using group theory. In particular, the notions of conjugacy and isotropy sets are exploited for kinematic design and mobility analysis of linkages. The focus of the work is on spherical motions and the work is an extension of the work of Hervé (1997).
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© 2000 Springer Science+Business Media Dordrecht
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Rico, J.M., Ravani, B. (2000). Designing Linkages with Symmetric Motions: The Spherical Case. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_12
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DOI: https://doi.org/10.1007/978-94-011-4120-8_12
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5803-2
Online ISBN: 978-94-011-4120-8
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