Computer-aided mechanism design: A symbolic-computing approach

DOI10.1016/0010-4485(93)90087-5MaRDI QIDQ1802270zbMATH OpenOpenAlexFDO

Authors N. K. Mani, Anoop Kumar Dhingra

Publication date 3 January 1994

Published in CAD. Computer-Aided Design (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0010-4485(93)90087-5

zbMATH Keywords

determinant conditionplane linkagesreal polynomial equationsrigid barsSylvester's dialytical method

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17) Numerical aspects of computer graphics, image analysis, and computational geometry (65D18) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

Review text

Single degree of freedom plane linkages (formed of rigid bars with unfettered joints) must consist of \(\geq 4\) bars. There are a few linkages of 5 and 6 bars that allow motions not executable by the 4-bar linkage. The condition of one degree of freedom imposes a determinant condition on the motions of these linkages. The authors note that modern symbolic computation programs can solve these equations in closed form: the condition that given 5 or 6 dimensional determinants with complex coefficients vanish splits into two real polynomial equations whose common root can be found by Sylvester's dialytical method from a linear equation. The corresponding computations are quite hopeless for hand calculation. Sylvester's resultant naturally still has to be solved numerically as polynomial equation of high degree (with the accompanying danger of ill conditioning, making a big question whether practical engineering can really gain from these computations as compared to the usual trial and error approximations).

Recommendations

• Singularity analysis of planar linkages
• Planar linkages following a prescribed motion
• Synthesis of linkages with four points of accuracy using Maple-V
• Geometric design of linkages.
• Constraint varieties in mechanism science

Cited in

(2)

• scientific article; zbMATH DE number 3982706 (Why is no real title available?)
• Mechanism mobility and a local dimension test

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