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Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Overconstrained rational single-loop linkages are efficient, compact, and low-cost custom mechanisms, yet their deployment in industrial settings is limited. In simulations, rigid body formulations fail due to redundant constraints. This study presents a flexible multibody modeling framework based on the floating frame of reference formulation, and delivers an overall accuracy analysis of assembled linkages prototypes. The approach is validated against 3D-printed PLA prototypes of a Bennett four-bar mechanism, including variants with intentional joint-axis misalignment, which theoretically, fr

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