On Spatial Mechanisms in Lorentzian 3-Space

Let L4\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$L<^>{4}$$\end{document} be a 4-dimensional Lorentzian space with the sign (-,+,+,+). The aim of this study is to investigate the other missing algebraic forms of the constraint manifolds of 2C and 3C spatial open chains in L4\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$L<^>{4}$$\end{document}. For this purpose, firstly, we obtain the structure equations of a spatial open chain using the equations of open chains of the Lorentz plane and Lorentz sphere. After then, using these structure equations, we search the algebraic forms of the constraint manifolds of 2C and 3C spatial open chains in Lorentzian 3-space with respect to the causal characters of the first link and the axis of rotation of the joint.