کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802310 1467764 2013 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
The theory of bonds: A new method for the analysis of linkages
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
The theory of bonds: A new method for the analysis of linkages
چکیده انگلیسی


• Dual-quaternion based characterization of the geometry of three revolute axes.
• Rigorous definition of bonds, (algebraic) joint distances, and connection numbers.
• Visualization of the bond structure in bond diagrams.
• New examples of overconstrained 6R-linkages.
• New proof of Karger's classification result for overconstrained 5R linkages.

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.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 70, December 2013, Pages 407–424
نویسندگان
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