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.

翻译：本文介绍了一套工具，可简化单环路理性运动链的综合与快速原型制作。该工具支持对最多四个给定位姿进行理性运动插值，并生成能够执行该运动的连杆机构设计参数。该软件包还提供输出可视化功能，可进行自碰撞分析并支持设计参数调整。其结果可导入CAD系统以实现快速3D打印。