an:01596132
Zbl 0987.70002
Lerbet, Jean
Some explicit relations in kinematics of mechanisms
EN
Mech. Res. Commun. 27, No. 6, 621-630 (2000).
00072292
2000
j
70B15 70G65
differential geometry; closure function; Taylor expansion; Lie group theory; explicit relations; kinematics of mechanisms; closed mechanisms
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.