Automated Generation of Kempe Linkages for ... - Alexander Kobel
Automated Generation of Kempe Linkages for ... - Alexander Kobel
Automated Generation of Kempe Linkages for ... - Alexander Kobel
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Contents<br />
1 Introduction 1<br />
1.1 <strong>Kempe</strong> <strong>Linkages</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1<br />
1.2 Dynamic Geometry in Cinderella . . . . . . . . . . . . . . . . . . . . . . . 2<br />
1.3 Algebraic Geometry Visualization in Xalci . . . . . . . . . . . . . . . . . 3<br />
2 Basic <strong>Linkages</strong> 5<br />
2.1 Straight Line Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5<br />
2.1.1 How to Draw a Straight Line? . . . . . . . . . . . . . . . . . . . . 5<br />
2.1.2 An Inexact Approach: Watt‘s linkage . . . . . . . . . . . . . . . . 6<br />
2.1.3 An Exact Solution: The Peaucellier-Lipkin Cell . . . . . . . . . . 7<br />
2.1.4 The Peaucellier Cell on Slot . . . . . . . . . . . . . . . . . . . . . . 9<br />
2.2 The Translator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9<br />
2.3 The Rotator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10<br />
2.3.1 The Distance Copier . . . . . . . . . . . . . . . . . . . . . . . . . . 11<br />
2.4 Angle Adder and Multiplicator . . . . . . . . . . . . . . . . . . . . . . . . 12<br />
2.4.1 The Angle Adder . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12<br />
2.4.2 The Angle Multiplicator . . . . . . . . . . . . . . . . . . . . . . . . 12<br />
3 <strong>Kempe</strong> <strong>Linkages</strong> <strong>for</strong> Plane Curves 15<br />
3.1 Trigonometric Algebra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15<br />
3.2 <strong>Kempe</strong>‘s Straight Line Linkwork . . . . . . . . . . . . . . . . . . . . . . . 18<br />
3.3 Complexity <strong>of</strong> the <strong>Kempe</strong> Linkage . . . . . . . . . . . . . . . . . . . . . . 20<br />
3.4 Generalizations and Criticism <strong>of</strong> <strong>Kempe</strong>‘s Pro<strong>of</strong> and Open Questions . 22<br />
4 Simulation <strong>of</strong> <strong>Kempe</strong> <strong>Linkages</strong> using Cinderella and Xalci 25<br />
4.1 Some Design Aspects <strong>of</strong> Cinderella . . . . . . . . . . . . . . . . . . . . . . 25<br />
4.1.1 Complex Projective Geometry . . . . . . . . . . . . . . . . . . . . 26<br />
4.1.2 Continuity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27<br />
4.1.3 <strong>Automated</strong> Theorem Checking . . . . . . . . . . . . . . . . . . . . 28<br />
4.1.4 CindyScript . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30<br />
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