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TitleKinematic analysis of Bricard
Author(s) Teijo Arponen, Samuli Piipponen, Jukka Tuomela
TypeArticle in Journal
AbstractWe show how the tools of computational algebra can be used to analyze the configuration space of multibody systems. One advantage of this approach is that the mobility can be computed without using the Jacobian of the system. As an example, we treat thoroughly the well-known Bricardís mechanism, but the same methods can be applied to a wide class of rigid multibody systems. It turns out that the configuration space of Bricardís system is a smooth closed curve, which can be explicitly parametrized. Our computations also yield a new formulation of constraints which is better than the original one from the point of view of numerical simulations.
KeywordsMultibody systems, Configuration space, Overconstrained linkages
ISSN0924-090X; 1573-269X/e
URL http://link.springer.com/article/10.1007%2Fs11071-008-9381-z
JournalNonlinear Dyn.
PublisherSpringer Netherlands, Dordrecht
Translation No
Refereed No