Coordinate‐free kinematic analysis of overconstrained mechanisms with mobility one - Archive ouverte HAL
Article Dans Une Revue Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik Année : 2005

Coordinate‐free kinematic analysis of overconstrained mechanisms with mobility one

Résumé

Abstract We propose to analyse some classical overconstrained mechanisms by using explicitely the relations of singularity and not only the closure equation A 1 ˆ...ˆ A n = e . Using the fact that their configuration space manifold is such that the constraint jacobian is permanently not of full rank, we apply our earlier developed analysis strategy for singularities to analyse overconstrained mechanisms. By theorem 1, the holonomic constraints A 1 ˆ...ˆ A n = e are linearized and formulated in an appropriate form on the Lie algebra ... This gives a redundant set of linear equations which is solved. The used method is coordinate‐free and the solution of the Bennett and Bricard mechanisms is given as illustration of the method.

Dates et versions

hal-04367058 , version 1 (29-12-2023)

Identifiants

Citer

Jean Lerbet. Coordinate‐free kinematic analysis of overconstrained mechanisms with mobility one. Journal of Applied Mathematics and Mechanics / Zeitschrift für Angewandte Mathematik und Mechanik, 2005, 85 (10), pp.740-747. ⟨10.1002/zamm.200110195⟩. ⟨hal-04367058⟩
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