Cayley Analysis of Mechanism Configuration Spaces using CayMos: Software Functionalities and Architecture

TL;DR

CayMos is software that leverages Cayley analysis and new theoretical insights to efficiently visualize, analyze, and compute continuous motions and closest realizations in the configuration spaces of 1-dof tree decomposable linkages.

Contribution

The paper introduces CayMos, a software tool implementing novel theoretical results for analyzing and visualizing configuration spaces of 1-dof tree decomposable linkages.

Findings

Efficient visualization of connected components in realization spaces.

Algorithms for continuous motion paths within the same component.

Methods to find closest realizations across different components.

Abstract

For a common class of 2D mechanisms called 1-dof tree decomposable linkages, we present a software CayMos which uses new theoretical results to implement efficient algorithmic solutions for: (a) meaningfully representing and visualizing the connected components in the Euclidean realization space; (b) finding a path of continuous motion between two realizations in the same connected component, with or without restricting the realization type (sometimes called orientation type); (c) finding two ``closest'' realizations in different connected components.