INFINITESIMAL KINEMATICS METHODS IN THE MOBILITY DETERMINATION OF KINEMATIC CHAINS

摘要

In recent years, there has been a good deal of controversy about the application of infinitesimal kinematics to the mobility determination of kinematic chains. On the one hand, there has been several publications that promote the use of the velocity analysis, without any additional results, for the determination of the mobility of kinematic chains. On the other hand, the authors of this contribution have received several reviews of researchers who have the strong belief that no infinitesimal method can be used to correctly determine the mobility of kinematic chains. In this contributions, it is attempted to show that velocity analysis by itself can not correctly determine the mobility of kinematic chains. However, velocity and higher order analysis coupled with some recent results about the Lie algebra, se(3), of the Euclidean group, SE(3), can correctly determine the mobility of kinematic chains.