| contributor author | J. M. Selig | |
| date accessioned | 2017-05-09T00:39:50Z | |
| date available | 2017-05-09T00:39:50Z | |
| date copyright | November, 2010 | |
| date issued | 2010 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-28005#041009_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/144303 | |
| description abstract | In this work, the solution to certain geometric constraint problems are studied. The possible rigid displacements allowed by the constraints are shown to be intersections of the Study quadric of rigid-body displacements with quadratic hypersurfaces. The geometry of these constraint varieties is also studied and is found to be isomorphic to products of subgroups in many cases. This information is used to find extremely simple derivations for general solutions to some problems in kinematics. In particular, the number of assembly configurations for RRPS and RRRS mechanisms are found in this way. In order to treat planes and spheres on an equal footing, the Clifford algebra for the Möbius group is introduced. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Quadratic Constraints on Rigid-Body Displacements | |
| type | Journal Paper | |
| journal volume | 2 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4002344 | |
| journal fristpage | 41009 | |
| identifier eissn | 1942-4310 | |
| keywords | Intersections | |
| keywords | Equations | |
| keywords | Mechanisms | |
| keywords | Kinematics | |
| keywords | Manufacturing | |
| keywords | Geometry AND Displacement | |
| tree | Journal of Mechanisms and Robotics:;2010:;volume( 002 ):;issue: 004 | |
| contenttype | Fulltext | |
