{"paper":{"title":"The Kinematic Image of 2R Dyads and Exact Synthesis of 5R Linkages","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO","math.RA"],"primary_cat":"math.MG","authors_text":"Hans-Peter Schr\\\"ocker, Tudor-Dan Rad","submitted_at":"2015-03-16T08:24:20Z","abstract_excerpt":"We characterise the kinematic image of the constraint variety of a 2R dyad as a regular ruled quadric in a 3-space that contains a \"null quadrilateral\". Three prescribed poses determine, in general, two such quadrics. This allows us to modify a recent algorithm for the synthesis of 6R linkages in such a way that two consecutive revolute axes coincide, thus producing a 5R linkage. Using the classical geometry of twisted cubics on a quadric, we explain some of the peculiar properties of the the resulting synthesis procedure for 5R linkages."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1503.04566","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}