The Theory of Bonds: A New Method for the Analysis of Linkages
This work addresses a problem in mechanical engineering and robotics for analyzing linkages, but it appears incremental as it builds on existing classification methods.
The paper tackles the analysis of closed linkages with revolute joints by introducing a new technique called the theory of bonds, based on dual quaternions, and demonstrates its usefulness by providing a new and transparent proof for the classification of overconstrained 5R linkages.
In this paper we introduce a new technique, based on dual quaternions, for the analysis of closed linkages with revolute joints: the theory of bonds. The bond structure comprises a lot of information on closed revolute chains with a one-parametric mobility. We demonstrate the usefulness of bond theory by giving a new and transparent proof for the well-known classification of overconstrained 5R linkages.