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On the Geometry and Dynamics of Floating Four-Bar Linkages

dc.contributor.authorYang, R.en_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
dc.date.accessioned2007-05-23T09:49:57Z
dc.date.available2007-05-23T09:49:57Z
dc.date.issued1992en_US
dc.identifier.urihttp://hdl.handle.net/1903/5191
dc.description.abstractIn this paper, we investigate the kinematics and dynamics of floating, planar four-bar linkages. The geometry of configuration space is analyzed through the classical theory of mechanisms due to Grashof. The techniques of symplectic and Poisson reduction are used to understand the dynamics of the system. Bifurcations of relative equilibria for linkages admitting symmetric shapes are studied using the techniques of singularity theory. The problem of reconstruction of the full dynamics and its relation to geometric phases is discussed through some examples. This research reveals that a coupled mechanical system with kinematic loops possesses richer and more complicated dynamical aspects in comparison with systems which have the same number of degrees of freedom, but no kinematic loops.en_US
dc.format.extent1856658 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1992-9en_US
dc.subjectgeometric controlen_US
dc.subjectnonlinear systemsen_US
dc.subjectroboticsen_US
dc.subjectspace structuresen_US
dc.subjectstabilityen_US
dc.subjecthamiltonian systemsen_US
dc.subjectgeometric phasesen_US
dc.subjectbifurcationsen_US
dc.subjectrelative equilibriaen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleOn the Geometry and Dynamics of Floating Four-Bar Linkagesen_US
dc.typeTechnical Reporten_US
dc.contributor.departmentISRen_US


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