The theory of bonds: A new method for the analysis of linkages

被引：25
|
作者：
Hegedues, Gabor [1 ]
Schicho, Josef
Schroecker, Hans-Peter [2 ]
机构：
[1] Obuda Univ, John von Neumann Fac Informat, Inst Appl Math, Antal Bejczy Ctr Intelligent Robot, Budapest, Hungary
[2] Univ Innsbruck, Unit Geometry & CAD, A-6020 Innsbruck, Austria
来源：
MECHANISM AND MACHINE THEORY | 2013年 / 70卷
基金：
奥地利科学基金会; 美国国家科学基金会;
关键词：
Dual quaternions; Bond theory; Overconstrained revolute chain; Overconstrained 5R chain;
D O I：
10.1016/j.mechmachtheory.2013.08.004
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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. (C) 2013 Elsevier Ltd. All rights reserved.
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页码：407 / 424
页数：18
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