Corpus ID: 237439476

Joint Search of Optimal Topology and Trajectory for Planar Linkages

  title={Joint Search of Optimal Topology and Trajectory for Planar Linkages},
  author={Zherong Pan and Min Liu and Xifeng Gao and Dinesh Manocha},
  • Zherong Pan, Min Liu, +1 author D. Manocha
  • Published 8 September 2021
  • Computer Science
  • ArXiv
We present an algorithm to compute planar linkage topology and geometry, given a user-specified end-effector trajectory. Planar linkage structures convert rotational or prismatic motions of a single actuator into an arbitrarily complex periodic motion, which is an important component when building low-cost, modular robots, mechanical toys, and foldable structures in our daily lives (chairs, bikes, and shelves). The design of such structures require trial and error even for experienced engineers… Expand


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