scientific article; zbMATH DE number 1066435

MaRDI QIDQ4357626zbMATH OpenFDO

Authors Hellmuth Stachel

Publication date 11 February 1998

zbMATH Keywords

dual vectorsline geometryoverconstrained mechanismsprinciple of transference

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17) Differential line geometry (53A25) Kinematics of mechanisms and robots (70B15)

Review text

Following \textit{W. Blaschke} [`Analytische Geometrie', 2. Aufl. (Birkhäuser, Basel etc.) (1954; Zbl 0057.12705)], the first part of the paper introduces the representation of directed lines in \(\mathbb{E}^3\) using dual vectors. In the second part formulas and geometric interpretations of linear dependencies among two resp. three dual vectors are given. Then the principle of transference (Study-Kotelnikov-principle) is recalled and used to proof the well-known Hjelmslev-Morley theorem very elegantly by replacing the vectors pointing to the vertices of a spherical triangle by dual vectors. This transformation replaces the spherical triangle by a spatial triangle. In the main part of the paper this principle of transference is used to extend two spherical mechanisms (planar versions due to Dixon [see also \textit{W. Wunderlich}, Nederl. Akad. Wet., Proc., Ser. A 79, 257-262 (1976; Zbl 0336.70002)]) to spatial mechanisms. It is shown that both resulting mechanisms have mobility two. For the entire collection see [Zbl 0867.00024].

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