Abstract
A summary of the conics method is presented. This method provides a new way to analyze the kinematic geometry of fourth order manipulators. A condition is developed that is sufficient for a fourth order solution to reduce to a quadratic. Applying this condition to a 3R regional manipulator yields seven quadratic robot designs. Several of the derived geometries are sufficiently obscure that their discovery is unlikely without such a systematic approach.
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© 1991 Springer-Verlag Wien
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Smith, D.R., Lipkin, H. (1991). A Summary of the Theory and Application of the Conics Method in Robot Kinematics. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_10
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DOI: https://doi.org/10.1007/978-3-7091-4433-6_10
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
Online ISBN: 978-3-7091-4433-6
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