Algebraic methods in mechanism analysis and synthesis

作者：Husty Manfred L^*; Pfurner Martin; Schroecker Hans Peter; Brunnthaler Katrin

来源：Robotica, 2007, 25(6): 661-675.

DOI：10.1017/S0263574707003530

• kinematic mapping
• constraint manifold
• mechanism analysis
• mechanism synthesis
• Bennett mechanism
• 6R inverse kinematics
• overconstrained mechanism

Algebraic methods in connection with classical multidimensional geometry have proven to be very efficient in the computation of direct and inverse kinematics of mechanisms as well as the explanation of strange, pathological behavior. In this paper, we give an overview of the results achieved within the last few years using the algebraic geometric method, geometric preprocessing, and numerical analysis. We provide the mathematical and geometrical background, like Study's parametrization of the Euclidean motion group, the ideals belonging to mechanism constraints, and methods to solve polynomial equations. The methods are explained with different examples from mechanism analysis and synthesis.

• 出版日期2007-12