Rational Linkages: From Poses to 3D-printed Prototypes

In this paper, a set of tools is introduced that simplifies the synthesis and rapid-prototyping of single-loop rational kinematic chains. It allows the user to perform rational motion interpolation of up to four given poses and yields the design parameters of a linkage that can execute this motion. The package also provides a visualization of the output and performs a self-collision analysis with the possibility to adapt the design parameters. The results can be imported into CAD-systems for fast 3D printing.