The Double-Koenigs Mechanism: A spatial linkage with cusp singularities and multiple branches in the configuration space

P. C. López-Custodio; A. Müller; J. S. Dai

doi:10.1109/REMAR.2018.8449855

The Double-Koenigs Mechanism: A spatial linkage with cusp singularities and multiple branches in the configuration space

P. C. López-Custodio, A. Müller, J. S. Dai

Kepler University Hospital

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

3 Citations (Scopus)

Abstract

A novel spatial mechanism able for reconfiguration with a cusp in its configuration space is presented for the first time. The building blocks of the mechanism are two Koenigs joints whose couplers are connected through another link. Using the geometric properties of the coupler curves of both Koenigs joints it is found that the configuration space of the mechanism exhibits a cusp and that other three regular branches are intersecting at this cusp. The kinematic tangent cone at the cusp is computed, and it is shown that such local analyis is insufficient to describe the local properties of the configuration space at the cusp, thus presenting a challenge for local analyses methods.

Original language	English
Title of host publication	2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
Editors	Just L. Herder, Volkert van der Wijk
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)	9781538663806
DOIs	https://doi.org/10.1109/REMAR.2018.8449855
Publication status	Published - 28 Aug 2018
Event	4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Delft, Netherlands Duration: 20 Jun 2018 → 22 Jun 2018

Conference

Conference	4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
Country/Territory	Netherlands
City	Delft
Period	20/06/2018 → 22/06/2018

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10.1109/REMAR.2018.8449855

Cite this

López-Custodio, P. C., Müller, A., & Dai, J. S. (2018). The Double-Koenigs Mechanism: A spatial linkage with cusp singularities and multiple branches in the configuration space. In J. L. Herder, & V. van der Wijk (Eds.), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings Article 8449855 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/REMAR.2018.8449855

López-Custodio, P. C. ; Müller, A. ; Dai, J. S. / The Double-Koenigs Mechanism : A spatial linkage with cusp singularities and multiple branches in the configuration space. 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. editor / Just L. Herder ; Volkert van der Wijk. Institute of Electrical and Electronics Engineers Inc., 2018.

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abstract = "A novel spatial mechanism able for reconfiguration with a cusp in its configuration space is presented for the first time. The building blocks of the mechanism are two Koenigs joints whose couplers are connected through another link. Using the geometric properties of the coupler curves of both Koenigs joints it is found that the configuration space of the mechanism exhibits a cusp and that other three regular branches are intersecting at this cusp. The kinematic tangent cone at the cusp is computed, and it is shown that such local analyis is insufficient to describe the local properties of the configuration space at the cusp, thus presenting a challenge for local analyses methods.",

author = "L{\'o}pez-Custodio, {P. C.} and A. M{\"u}ller and Dai, {J. S.}",

year = "2018",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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note = "4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 ; Conference date: 20-06-2018 Through 22-06-2018",

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López-Custodio, PC, Müller, A & Dai, JS 2018, The Double-Koenigs Mechanism: A spatial linkage with cusp singularities and multiple branches in the configuration space. in JL Herder & V van der Wijk (eds), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings., 8449855, Institute of Electrical and Electronics Engineers Inc., 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018, Delft, Netherlands, 20/06/2018. https://doi.org/10.1109/REMAR.2018.8449855

The Double-Koenigs Mechanism: A spatial linkage with cusp singularities and multiple branches in the configuration space. / López-Custodio, P. C.; Müller, A.; Dai, J. S.
2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. ed. / Just L. Herder; Volkert van der Wijk. Institute of Electrical and Electronics Engineers Inc., 2018. 8449855.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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AB - A novel spatial mechanism able for reconfiguration with a cusp in its configuration space is presented for the first time. The building blocks of the mechanism are two Koenigs joints whose couplers are connected through another link. Using the geometric properties of the coupler curves of both Koenigs joints it is found that the configuration space of the mechanism exhibits a cusp and that other three regular branches are intersecting at this cusp. The kinematic tangent cone at the cusp is computed, and it is shown that such local analyis is insufficient to describe the local properties of the configuration space at the cusp, thus presenting a challenge for local analyses methods.

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López-Custodio PC, Müller A, Dai JS. The Double-Koenigs Mechanism: A spatial linkage with cusp singularities and multiple branches in the configuration space. In Herder JL, van der Wijk V, editors, 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8449855 doi: 10.1109/REMAR.2018.8449855

The Double-Koenigs Mechanism: A spatial linkage with cusp singularities and multiple branches in the configuration space

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