Some explicit relations in kinematics of mechanisms
Résumé
Using Lie group theory, we propose to give some explicit relations in kinematics of mechanisms without introducing coordinates. After a presentation of the mathematical tools, the kinematics of closed mechanisms is presented using Lie group language. We give first a family of relations between dependent and independent variables and their derivatives which may be useful for linearisation or for numerical integration. Two examples are then proposed to illustrate these relations.