Computer-Aided Design of Rational Motions for 4R and 6R Spatial Mechanism Synthesis

• URL: http://arxiv.org/abs/2602.20920v1
• Date: Tue, 24 Feb 2026 13:58:36 GMT
• Title: Computer-Aided Design of Rational Motions for 4R and 6R Spatial Mechanism Synthesis
• Abstract summary: We introduce a new scheme for seven 3D points based on cubic quaternionic Bezier curves.<n>The resulting motion admits factorization, i.e. the synthesis of a spatial six-bar mechanism.
• Score: 4.76285598583384
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper focuses on geometric methods for generating rational motions used in the design of single-loop rational linkages, 1-degree-of-freedom mechanisms that can execute prescribed spatial tasks. Building on established rational motion synthesis methods, we introduce a new interpolation scheme for seven 3D points based on cubic quaternionic Bezier curves. The resulting motion admits factorization, i.e. the synthesis of a spatial six-bar mechanism whose tool frame passes the specified seven points. To support engineering practice, we provide open-source CAD tools that implement also the other methods and provide fast visual evaluation of motion generation and mechanism synthesis.

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