Lie Algebra and the Mobility of Kinematic Chains

DOI10.1002/ROB.10099MaRDI QIDQ4452434zbMATH OpenOpenAlexWikidataFDO

Authors Bahram Ravani, José M. Rico, Jaime Gallardo

Publication date 12 February 2004

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.10099

Mathematics Subject Classification ID

Lie algebras of Lie groups (22E60) Kinematics of mechanisms and robots (70B15) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

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(14)

• A general methodology for mobility analysis of mechanisms based on constraint screw theory
• A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics
• An algebraic study of linkages with helical joints
• Mobility analysis of overconstrained parallel mechanism using Grassmann-Cayley algebra
• Theory of loop algebra on multi-loop kinematic chains and its application
• Mobility and spatiality of parallel robots revisited via theory of linear transformations
• A new formula of mechanism mobility based on virtual constraint loop
• An algebraic method to compute the mobility of closed-loop overconstrained mechanisms
• scientific article; zbMATH DE number 940755 (Why is no real title available?)
• Mechanism mobility and a local dimension test
• Mobility analysis of multi-loop coupling mechanisms using geometric algebra
• Kinematical Lie Algebras and Invariant Functions of Algebras
• A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates
• A simple method to calculate mobility with Jacobian

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