Some explicit relations in kinematics of mechanisms
Authors:
Jean Lerbet
Affiliation:
CERMICS, Ecole Nationale des Ponts et Chaussées 6 et 8 avenue Blaise Pascal, Cité Descartes Champs-sur-Marne 77455, MARNE-LA-VALLEE Cedex 2, France
Abstract:
Using Lie group theory, we propose to give some explicit relations in kinematics of mechanisms without introducing coordinates. After a presentation of the mathematical tools, the kinematics of closed mechanisms is presented using Lie group language. We give first a family of relations between dependent and independent variables and their derivatives which may be useful for linearisation or for numerical integration. Two examples are then proposed to illustrate these relations.