The Theory of Bonds: A New Method for the Analysis of Linkages

TL;DR

This paper introduces the theory of bonds, a novel dual quaternion-based method for analyzing closed linkages with revolute joints, providing new insights and proofs for overconstrained 5R linkages.

Contribution

It presents a new bond theory technique for linkage analysis, offering a clearer proof of the classification of overconstrained 5R linkages.

Findings

Bond structure encodes detailed information on revolute chains.

Provides a transparent proof for 5R linkage classification.

Enhances understanding of linkage mobility and constraints.

Abstract

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.