Abstract
An approach for the synthesis of overconstrained single-loop mechanisms with helical joints using screw theory is presented. By expressing higher-order derivatives of the screw axes with respect to the joint coordinates a local approximation of the closure conditions is obtained. The approximation is used to define conditions for the finite mobility of overconstrained mechanisms.
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Bartkowiak, R., Woernle, C. (2010). Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_58
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DOI: https://doi.org/10.1007/978-90-481-9262-5_58
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