The Theory of Bonds: A New Method for the Analysis of Linkages

DOI10.1016/J.MECHMACHTHEORY.2013.08.004MaRDI QIDQ6233770zbMATH OpenFDO

Authors Gábor Hegedüs, Josef Schicho, Hans-Peter Schröcker

Publication date 18 June 2012

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Plane and space curves (14H50) Kinematic spaces (51J15)

Abstract: 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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