Abstract: We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straightline trajectory. Unlike previous examples of such linkages by other authors, they are ...

Abstract: The configuration space (c-space) of a mechanism is the real-solution variety of a set of loop closure constraints, which is therefore the chief object in kinematic analysis. Singularities of this variety (referred to as ...

Abstract: In many rescue and detection tasks, mobile robots are required to transverse over uneven terrains and enter some dangerous environments that people cannot overcome, such as crevices, pipes, gullies, etc. High mobility/speed ...