The Theory of Bonds: A New Method for the Analysis of Linkages
classification
🧮 math.AG
cs.ROmath.MGmath.RA
keywords
linkagestheoryanalysisbondbondsclosedrevolutechains
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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.
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