This paper builds on Innocenti’s polynomial solution for the platform that generates a one-degree of freedom movement through seven specified spatial positions of a rigid body. We show that his 60×60 resultant can be reduced to one that is 10×10. We then actuate the linkage using a prismatic joint on the sixth leg and determine the trajectory of the reference point through the specified positions. The singularity submanifold of this associated platform provides information about the movement characteristics of the linkage.
Issue Section:Technical Papers
Keywords:design engineering, manipulator kinematics, polynomials, mechanical engineering, performance evaluation
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