Linkage Classification

Created Samstag 27 Juli 2024

Linkages can be distinguished according to

• their graph structure
  • general graph
  • tree
  • single cycle aka polygon
  • simple path aka (polygonal) chain aka arc/robot arm/arm
• the dimension of the ambient space in which the linkage lives
• intersection conditions: How may the linkage intersect with itself or with obstacles?
  • No constraints means arbitrary rotations and free passing through itself permitted. In 2D e.g. realized by links at slightly different levels in parallel to a plane connected by orthogonal pegs as joints.
  • If no self-intersection is allowed, the linkage is called simple in the literature and the self-intersection constraint is referred to as the demanded simplicity of the linkage. Note that there is a distinction between self-intersection and self-crossing.