METRIC RELATIONS AND DISPLACEMENT GROUPS IN MECHANISM AND ROBOT KINEMATICS

This paper presents a systematic theory for metric relations between t he invariant properties of displacement groups, and shows this theory application to mechanism kinematics. Displacement groups, their invari ant properties and operations are briefly described. Kinematic constra ints are then introduced as tools for relating abstract group properti es to actual mechanism constraints. Criteria ans operating rules to em ploy metric relations for the generation of a meaningful set of closur e equations for kinematic chains are detailed.