On the Dynamics of Floating Four-Bar Linkages

Abstract

The hamiltonian structure of floating, planar four-bar linkages is discussed. The geometry of configuration space is related to the classical theory of mechanisms due to Grashof. For generic value of kinematic parameters, the techniques of symplectic (and Poisson) reduction apply.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1989
Accession Number
ADA454732

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  • P.S.Krishnaprasad
  • Rui Yang

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  • University of Maryland

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  • Control Systems Engineering.

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  • Space
  • Space - Hall-Effect Thruster