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Article Dans Une Revue Acta Applicandae Mathematicae Année : 1999

Kinematics of Mechanisms to the Second Order – Application to the Closed Mechanisms

K. Hao
  • Fonction : co premier-auteur

Résumé

The degree of freedom of a closed mechanism is the dimension of a subset M of R n, M being the inverse image of the unity by the closure function f : (q 1, ..., q n ) ↦ f(q 1, ..., q n ), where q 1, ..., q n are the articular coordinates. We first study the regular points for the mapping f from R n into the Lie group of displacements and, second, study the singularities of the mapping f. The classical theory of mechanisms considers, often implicitly, that f is a subimmersion. Here, the calculations are made in a larger case, up to second order, and the results are then slightly different. The case of such classical mechanisms as Bennett, Bricard, and Goldberg mechanisms, justify the considerations of this more general framework and the example of a Bricard mechanism is chosen as an application of the method.
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Dates et versions

hal-04367017 , version 1 (29-12-2023)

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Jean Lerbet, K. Hao. Kinematics of Mechanisms to the Second Order – Application to the Closed Mechanisms. Acta Applicandae Mathematicae, 1999, 59 (1), pp.1-19. ⟨10.1023/A:1006273716781⟩. ⟨hal-04367017⟩
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