用四元数贝塞尔曲线设计空间机构运动，实现7个点精准轨迹。
Computer-Aided Design of Rational Motions for 4R and 6R Spatial Mechanism Synthesis
- 基于三次四元数贝塞尔曲线设计七点插值运动路径。
- 生成可分解的运动，支持6杆空间机构的快速合成。
- 开源CAD工具支持可视化评估与工程应用。
本文聚焦于单闭环有理连杆机构的几何设计方法，这类1自由度机构能完成指定的空间任务。在已有有理运动合成方法基础上，提出一种基于三次四元数贝塞尔曲线的七点三维插值新方案，生成的运动具有可分解性，可用于空间六杆机构的合成，使其末端执行器精确经过指定的七个空间点。为支持工程实践，本文提供了开源的CAD工具，实现其他方法并支持运动生成与机构合成的快速可视化评估。
原文摘要 · Abstract (English)
This paper focuses on geometric methods for generating rational motions used in the design of single-loop rational linkages, 1-degree-of-freedom mechanisms that can execute prescribed spatial tasks. Building on established rational motion synthesis methods, we introduce a new interpolation scheme for seven 3D points based on cubic quaternionic Bezier curves. The resulting motion admits factorization, i.e. the synthesis of a spatial six-bar mechanism whose tool frame passes the specified seven points. To support engineering practice, we provide open-source CAD tools that implement also the other methods and provide fast visual evaluation of motion generation and mechanism synthesis.
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