2023/07/23 by Zeyuan He, He, Zeyuan, Kentaro Hayakawa +3
Engineering · Biochemistry, Genetics and Molecular Biology · #Robotic Mechanisms and Dynamics #Modular Robots and Swarm Intelligence #Genome Rearrangement Algorithms
paper · pdf · doi:10.48550/arxiv.2308.03765
This note is a complete library of symbolic parametrized expressions for both real and complexified configuration spaces of a spherical 4-bar linkage. Building upon the previous work from Izmestiev, (2016, Section 2), this library expands on the expressions by incorporating all four folding angles across all possible linkage length choices, along with the polynomial relation between diagonals (spherical arcs). Furthermore, a complete MATLAB app script is included, enabling visualization and parametrization. The derivations are presented in a detailed manner, ensuring accessibility for researchers across diverse disciplines.