Abstract
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 ℓ 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 l and ℓ 0 varies the position of the joint A will vary on the circle with center O and radius ℓ 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.ℓ 2 and ℓ 3. Clearly, not all values of θ are feasible.
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© 1995 Springer-Verlag New York, Inc.
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Friedman, A. (1995). Coordinates for mechanisms configuration spaces. In: Mathematics in Industrial Problems. The IMA Volumes in Mathematics and its Applications, vol 67. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-8454-0_10
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DOI: https://doi.org/10.1007/978-1-4613-8454-0_10
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