Computer-Aided Design of Rational Motions for 4R and 6R Spatial Mechanism Synthesis
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866915813877874688 |
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| author | Huczala, Daniel Zube, Severinas Pfurner, Martin Siegele, Johannes Park, Frank C. |
| author_facet | Huczala, Daniel Zube, Severinas Pfurner, Martin Siegele, Johannes Park, Frank C. |
| contents | This paper focuses on geometric methods for generating rational motions used in the design of single-loop rational linkages, 1-degree-of-freedom mechanisms that can execute prescribed spatial tasks. Building on established rational motion synthesis methods, we introduce a new interpolation scheme for seven 3D points based on cubic quaternionic Bezier curves. The resulting motion admits factorization, i.e. the synthesis of a spatial six-bar mechanism whose tool frame passes the specified seven points. To support engineering practice, we provide open-source CAD tools that implement also the other methods and provide fast visual evaluation of motion generation and mechanism synthesis. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_20920 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Computer-Aided Design of Rational Motions for 4R and 6R Spatial Mechanism Synthesis Huczala, Daniel Zube, Severinas Pfurner, Martin Siegele, Johannes Park, Frank C. Robotics This paper focuses on geometric methods for generating rational motions used in the design of single-loop rational linkages, 1-degree-of-freedom mechanisms that can execute prescribed spatial tasks. Building on established rational motion synthesis methods, we introduce a new interpolation scheme for seven 3D points based on cubic quaternionic Bezier curves. The resulting motion admits factorization, i.e. the synthesis of a spatial six-bar mechanism whose tool frame passes the specified seven points. To support engineering practice, we provide open-source CAD tools that implement also the other methods and provide fast visual evaluation of motion generation and mechanism synthesis. |
| title | Computer-Aided Design of Rational Motions for 4R and 6R Spatial Mechanism Synthesis |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.20920 |