Coordinates for mechanisms configuration spaces

  • Avner Friedman
Part of the The IMA Volumes in Mathematics and its Applications book series (IMA, volume 67)


A mechanism is a collection of rigid bodies (e.g., bars) connected by movable joints. Typically, one body is fixed (ground). Figure 10.1 shows a 4-bar mechanism. The bars, of length i, are jointed in a way that allows them to rotate freely about their joints. The bar \(\overline {DO}\) is fixed. As the angle θ between l and 0 varies the position of the joint A will vary on the circle with center O and radius l, and the position B must vary in such a way that the distance from the new position of B to the new position of A and to D remain, respectively. 2 and 3. Clearly, not all values of θ are feasible.


Configuration Space Rigid Motion Spherical Joint Coordinate Chart Branch Order 
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Copyright information

© Springer-Verlag New York, Inc. 1995

Authors and Affiliations

  • Avner Friedman
    • 1
  1. 1.Institute for Mathematics and its ApplicationsUniversity of MinnesotaMinneapolisUSA

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