arXiv:1206.4020
The Theory of Bonds: A New Method for the Analysis of Linkages
The Theory of Bonds: A New Method for the Analysis of Linkages
著者: Gábor Hegedüs, Josef Schicho, Hans-Peter Schröcker
分類: math.AG, cs.RO, math.MG, math.RA
原文アブストラクト
In this paper we introduce a new technique, based on dual quaternions, for the analysis of closed linkages with revolute joints: the theory of bonds. The bond structure comprises a lot of information on closed revolute chains with a one-parametric mobility. We demonstrate the usefulness of bond theory by giving a new and transparent proof for the well-known classification of overconstrained 5R linkages.