Lie Algebra and the Mobility of Kinematic Chains
Lie Algebra and the Mobility of Kinematic Chains
复制标题
DOI：
10.1002/rob.10099
复制
发表时间：
2003-08
期刊：
影响因子：
--
通讯作者：
J. Rico;J. Gallardo-Alvarado;B. Ravani
中科院分区：
文献类型：
--
作者：
J. Rico;J. Gallardo-Alvarado;B. Ravani
本文讨论了李代数在运动链运动分析中的应用。它发展了最近由本出版物的两位作者开发的群论迁移率准则的代数公式。本文给出的迁移率判据的瞬时形式是基于欧氏群的李代数的子空间和子代数的理论及其可能的交集。结果表明，以往用螺旋理论得到的过约束连杆机构的某些运动性结果是不完整和不准确的。提出的理论提供了一种计算方法，允许有效地自动化新的群论迁移率标准。用几个例子说明了这一理论。©2003威利期刊公司。
This paper deals with the application of Lie Algebra to the mobility analysis of kinematic chains. It develops an algebraic formulation of a group-theoretic mobility criterion developed recently by two of the authors of this publication. The instantaneous form of the mobility criterion presented here is based on the theory of subspaces and subalgebras of the Lie Algebra of the Euclidean group and their possible intersections. It is shown using this theory that certain results on mobility of over-constraint linkages derived previously using screw theory are not complete and accurate. The theory presented provides for a computational approach that would allow efficient automation of the new group-theoretic mobility criterion. The theory is illustrated using several examples. © 2003 Wiley Periodicals, Inc.