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The Theory of Bonds: A New Method for the Analysis of Linkages (1206.4020v5)
Published 18 Jun 2012 in math.AG, cs.RO, math.MG, and math.RA
Abstract: 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.