KINEMATICAL ANALYSIS OF OVERCONSTRAINED MECHANISM USING COMPUTATIONAL GEOMETRIC ALGEBRA

摘要

In this paper we will show how the methods of computational and geometric algebra can be used to analyze the kinematics of multibody systems. As an example we treat thoroughly the well known Bricard's mechanism which is a classic example of so called overconstrained mechanism, but the same methods can be applied to wide class of rigid multibody systems. It turns out that the configuration space of Bricard's system is a smooth closed curve which can be explicitly parametrized. Our computations also yield a new formulation of constraints which is better than the original one from the point of view of numerical simulations.