Research Papers

Quadratic Constraints on Rigid-Body Displacements

[+] Author and Article Information
J. M. Selig

 London South Bank University, London SE1 0AA, UKseligjm@lsbu.ac.uk

J. Mechanisms Robotics 2(4), 041009 (Sep 30, 2010) (7 pages) doi:10.1115/1.4002344 History: Received March 04, 2010; Revised July 22, 2010; Published September 30, 2010; Online September 30, 2010

In this work, the solution to certain geometric constraint problems are studied. The possible rigid displacements allowed by the constraints are shown to be intersections of the Study quadric of rigid-body displacements with quadratic hypersurfaces. The geometry of these constraint varieties is also studied and is found to be isomorphic to products of subgroups in many cases. This information is used to find extremely simple derivations for general solutions to some problems in kinematics. In particular, the number of assembly configurations for RRPS and RRRS mechanisms are found in this way. In order to treat planes and spheres on an equal footing, the Clifford algebra for the Möbius group is introduced.

Copyright © 2010 by American Society of Mechanical Engineers
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