Abstract
Mechanism theory deals with kinematic chains, i.e., rigid bodies (called links) connected by joints. These joints enable motion between the links and are characterized by the type of motion they allow. The main joints allow only one motion, either a rotation around a given axis (rotary joint) or a translation along one given axis(prismatic joint). More complex joints can be constructed with these basic joints, e.g., the ball-and-socket joint enabling every rotation around a point. Note that a finite set of parameters defines the status of the joint. For example, for a rotary joint the rotation angle fully defines the joint. The independent parameters of the joints will be called the articular coordinates of the mechanism.
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© 1996 Birkhäuser Verlag Basel/Switzerland
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Merlet, JP. (1996). Some algebraic geometry problems arising in the field of mechanism theory. In: González-Vega, L., Recio, T. (eds) Algorithms in Algebraic Geometry and Applications. Progress in Mathematics, vol 143. Birkhäuser Basel. https://doi.org/10.1007/978-3-0348-9104-2_13
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DOI: https://doi.org/10.1007/978-3-0348-9104-2_13
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