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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.
MSC:
70B15 Kinematics of mechanisms and robots
70G65 Symmetries, Lie group and Lie algebra methods for problems in mechanics
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