Designing Rotary Linkages for Polar Motions
Aravind Baskar,Chang Liu,Mark Plecnik,Jonathan D. Hauenstein,Aravind Baskar,Chang Liu,Mark Plecnik,Jonathan D. Hauenstein
Polar linkages have two degrees-of-freedom (DOF) where one input joint angle controls the length of a radial segment while another controls its angle. Considering a theoretical planar robot model, this mapping between joint angles to output motions can be shown to be energetically advantageous over the ubiquitous two-revolute linkage. Since a polar linkage’s typical construction involves a moving ...
