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A Survey on the Theory of Bonds (1808.03138v1)
Published 30 Jul 2018 in cs.SY, math.AG, and math.MG
Abstract: Many researchers tried to understand/explain the geometric reasons for paradoxical mobility of a mechanical linkage, i.e. the situation when a linkage allows more motions than expected from counting parameters and constraints. Bond theory is a method that aims at understanding paradoxical mobility from an algebraic point of view. Here we give a self-contained introduction of this theory and discuss its results on closed linkages with revolute or prismatic joints.