Details:
Title  Kinematic analysis of Bricard  Author(s)  Teijo Arponen, Samuli Piipponen, Jukka Tuomela  Type  Article in Journal  Abstract  We 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 wellknown Bricard’s mechanism, but the same methods can be applied to a wide class of rigid multibody systems. It turns out that the configuration space of Bricard’s 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.  Keywords  Multibody systems, Configuration space, Overconstrained linkages  ISSN  0924090X; 1573269X/e 
URL 
http://link.springer.com/article/10.1007%2Fs110710089381z 
Language  English  Journal  Nonlinear Dyn.  Volume  56  Number  12  Pages  8599  Publisher  Springer Netherlands, Dordrecht  Year  2009  Edition  0  Translation 
No  Refereed 
No 
