A survey on the theory of bonds

DOI10.1093/IMAMCI/DNW048MaRDI QIDQ4555877zbMATH OpenOpenAlexFDO

Authors Zijia Li, Hans-Peter Schröcker, Josef Schicho

Publication date 23 November 2018

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1808.03138

zbMATH Keywords

dual numberskinematicslinkagesmobilityquaternions

Mathematics Subject Classification ID

Differential geometric aspects in kinematics (53A17)

Abstract: Many researchers tried to understand/explain the geometric reasons for paradoxical mobility of a mechanical linkage, i.e. the situation when a linkage allows more motions than expected from counting parameters and constraints. Bond theory is a method that aims at understanding paradoxical mobility from an algebraic point of view. Here we give a self-contained introduction of this theory and discuss its results on closed linkages with revolute or prismatic joints.

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