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

摘要

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