Separating Linkages in 3-Space

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Kouhestani, Bahram | 2009

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 39350 (02)
University: Sharif University of Technology
Department: Mathematical Sciences
Advisor(s): Mahdavi Amiri, Nezamoddin
Abstract:
Here, the properties of separability of linkages are studied. In general, a linkage is a simple polygonal chain embedded in 3-space with disjoint, straight-line edges, which are fixed-length bars. The internal vertices are called joints. If the two end points are connected then the linkage is a closed linkage, otherwise it is an open linkage. By imposing restrictions on the way the bars in joints can move, three kinds of linkages as rigid, revolute and flexible can be introduced. A motion in a linkage is the motion of its vertices that preserves the length of the bars, and adheres the restrictions on joints. A collection of linkages are said to be separatable if for any distance d, there is a motion with the result that every pair of points on different chains has distances at least d. If a collection can not be separated then it is called an interlocked collection. Here, the separablility of the linkage collection, when the number of linkages and the number of joints are few, is studied
Keywords:
Robot Arm ; Separation ; Computational Geometry ; Linkages ; Locking

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