Metric Relations and Displacement Groups in Mechanism and Robot Kinematics

[+] Author and Article Information
P. Fanghella, C. Galletti

Istituto di Meccanica Applicata alle Macchine, University of Genoa, Genoa, Italy

J. Mech. Des 117(3), 470-478 (Sep 01, 1995) (9 pages) doi:10.1115/1.2826702 History: Received January 01, 1994; Revised December 01, 1994; Online December 11, 2007


This paper presents a systematic theory for metric relations between the invariant properties of displacement groups, and shows this theory application to mechanism kinematics. Displacement groups, their invariant properties and operations are briefly described. Kinematic constraints are then introduced as tools for relating abstract group properties to actual mechanism constraints. Criteria and operating rules to employ metric relations for the generation of a meaningful set of closure equations for kinematic chains are detailed.

Copyright © 1995 by The American Society of Mechanical Engineers
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