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The mobility analysis of mechanisms rests on an adequate formulation of the constraints defining its configuration space (c-space). Whereas there is no general method for a global analysis, the higher-order mobility analysis, which locally approximates the c-space, is applicable to general mechanisms. It requires an efficient method for the evaluation of higher-order constraints, i.e. constraints...
The geometric constraints imposed on the bodies of a linkage determine its function and mobility. They are the basis for any computational analysis of the kinematics and dynamics of a linkage, which ultimately requires higher-order time derivatives of the constraints. A tailored formulation for linkages comprising lower kinematic pairs is the product of exponentials (POE) formula, where rigid body...
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