Abstract
Mechanisms with lower mobility can be studied by using tools that are directly deduced from those of spatial kinematics as screw theory. Nevertheless, ad-hoc tools that fully exploit the peculiarities of the displacement subgroups these mechanisms move in are usually more efficient both in showing mechanisms' features and when used to conceive numerical algorithms. Planar displacements constitute a three-dimensional subgroup with many peculiarities that allow the use of simplified tools (e.g., complex numbers) for studying planar mechanisms. Here, the systematic use of three-dimensional vector spaces to represent link poses and velocities in planar motion and planar system of forces is investigated. The result is a coherent set of tools that make it possible to geometrically describe kinematics and dynamics of planar mechanisms in the three-dimensional configuration space of links' planar poses.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
