Title :
On the dynamics of floating four-bar linkages
Author :
Yang, Rui ; Krishnaprasad, P.S.
Author_Institution :
Maryland Univ., College Park, MD, USA
Abstract :
The Hamiltonian structure of floating, planar, four-bar linkages is discussed. The geometry of the configuration space is related to the classical theory of mechanisms. For generic values of the kinematic parameters, the techniques of symplectic (and Poisson) reduction apply
Keywords :
computational geometry; dynamics; kinematics; robots; Hamiltonian structure; Poisson; configuration space; dynamics; floating four-bar linkages; geometry; kinematic parameters; symplectic reduction; Aerodynamics; Aerospace engineering; Constraint theory; Couplings; Educational institutions; Fasteners; Geometry; Kinematics; Open loop systems; Space vehicles;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70425
