Show simple item record

On the Geometry and Dynamics of Floating Four-Bar Linkages

dc.contributor.authorYang, R.en_US
dc.contributor.authorKrishnaprasad, Perinkulam S.en_US
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.relation.ispartofseriesISR; TR 1992-9en_US
dc.subjectgeometric controlen_US
dc.subjectnonlinear systemsen_US
dc.subjectspace structuresen_US
dc.subjecthamiltonian systemsen_US
dc.subjectgeometric phasesen_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

Files in this item


This item appears in the following Collection(s)

Show simple item record