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[Submitted on 15 Sep 2026] Title:Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages View a PDF of the paper titled Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages, by Daniel Huczala and 8 other authors View PDF HTML (experimental) Abstract: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, from the rigid body point of view, cannot be assembled. A supplementary contribution is delivered in the form of a kinematic parameter identification methodology suited for this type of mechanism with ill-conditioned Jacobian. The experimental and simulation results are compared and reveal that these overconstrained mechanisms exhibit a self-assembling tendency -- structural compliance drives the assembly toward the ideal geometric configuration, distributing constraint stress throughout the structure. Additional qualitative demonstrations using cardboard tubes and bamboo sticks as link building blocks confirm that functional mechanisms can be realized from low-cost, unconventional materials with limited manufacturing accuracy. The proposed modeling pipeline is fully algorithmic and enables design optimization in the future. Subjects: Robotics (cs.RO); Algebraic Geometry (math.AG) Cite as: arXiv:2609.17627 [cs.RO] (or arXiv:2609.17627v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.17627 arXiv-issued DOI via DataCite Submission history From: Martin Pfurner [view email] [v1] Tue, 15 Sep 2026 07:52:07 UTC (1,818 KB) Full-text links: Access Paper: View a PDF of the paper titled Flexible-body Modeling, Kinematic Identification, and Assembly Accuracy of Overconstrained Spatial Linkages, by Daniel Huczala and 8 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs math math.AG References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)