Cross Ratios of Quadrilateral Linkages
Giorgi Khimshiashvili, Dirk Siersma
TL;DR
This paper studies the cross-ratio map of planar quadrilateral linkages, including telescopic cases, providing descriptions of the image for generic side lengths and applications to planar robot arms.
Contribution
It characterizes the cross-ratio map for quadrilateral linkages and planar robot 3-arms, extending understanding to telescopic links and generic side lengths.
Findings
Describes the image of the cross-ratio map for quadrilateral linkages.
Analyzes the case with telescopic links.
Applies results to planar robot 3-arm configurations.
Abstract
We discuss the cross-ratio map of planar quadrilateral linkages, also in the case when one of the links is telescopic. Most of our results are valid for a planar quadrilateral linkage with generic lengths of the sides. In particular, we describe the image of cross-ratio map for quadrilateral linkage and planar robot 3-arm.
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