Machines and mechanisms realize processes, from the shaping process of a milling machine and the motion processof an automotive system to the trajectory realization of a robot. The dynamics of a machine generated by a properlychosen set of constraints in combination with an appropriate drive system is designed to meet the prescribedrequirements of the process, which is done by projecting the machine equations of motion on the process dynamics.We get a set of nonlinear relations, which represent the machine motion in terms of the required process motion. Awell-known example is the projection of arbitrary many robot degrees of freedom (DOFs) on a given path resultingin a set of nonlinear equations with one DOF only, the path coordinate s. Application of this idea can be used toconstruct a mobility space (s, s, s) for any combination of coordinates and constraints. The paper presents a correspondingapproach for n-link robots by applying multibody system theory. Method might be interesting for layoutof machines and mechanisms. Practical aspects are discussed, and an example is given.
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