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Some explicit relations in kinematics of mechanisms. (English) Zbl 0987.70002
Summary: Using Lie group theory, we derive some explicit relations in kinematics of mechanisms without introducing coordinates. After a presentation of the mathematical tools, the kinematics of closed mechanisms is studied using Lie group language. We give a family of relations between dependent and independent variables and their derivatives which may be useful for linearization or for numerical integration. Two examples illustrate these relations.
70B15 Kinematics of mechanisms and robots
70G65 Symmetries, Lie group and Lie algebra methods for problems in mechanics
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