A Survey on the Theory of Bonds
For researchers in kinematics and mechanism design, this provides a self-contained introduction to a specialized algebraic approach for analyzing paradoxical mobility.
This survey introduces bond theory, an algebraic method for understanding paradoxical mobility in mechanical linkages, and discusses its results for closed linkages with revolute or prismatic joints.
Many researchers tried to understand/explain the geometric reasons for paradoxical mobility of a mechanical linkage, i.e. the situation when a linkage allows more motions than expected from counting parameters and constraints. Bond theory is a method that aims at understanding paradoxical mobility from an algebraic point of view. Here we give a self-contained introduction of this theory and discuss its results on closed linkages with revolute or prismatic joints.