Factorization of Rational Motions: A Survey with Examples and Applications

10.6567/IFToMM.14TH.WC.OS2.013

Z. Li；T.-D. Rad；J. Schicho；H.-P. Schröcker

motion polynomial ； dual quaternions ； mechanism synthesis ； Bennett flip ； multiplication trick

Proceedings of the 14th IFToMM World Congress

14th-1（2015 / 10 / 23）

223 - 230

英文

Since its introduction in 2012, the factorization theory for rational motions quickly evolved and found applications in theoretical and applied mechanism science. We provide an accessible introduction to motion factorization with many examples, summarize recent developments and hint at some new applications. In particular, we provide pseudo-code for the generic factorization algorithm, demonstrate how to find a replacement linkage for a special case in the synthesis of Bennett mechanisms and, as an example of non-generic factorization, synthesize open chains for circular and elliptic translations.

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