Analysis of kinematics of mechanisms containing revolute joints

Jukka Tuomela

Home/Archive/arXiv

arXiv · 2501.06217

Analysis of kinematics of mechanisms containing revolute joints

Jukka Tuomela

View original source ↗Read source document ↗Export metadata ↓

Abstract

Kinematics of rigid bodies can be analyzed in many different ways. The advantage of using Euler parameters is that the resulting equations are polynomials and hence computational algebra, in particular Gr\"obner bases, can be used to study them. The disadvantage of the Gr\"obner basis methods is that the computational complexity grows quite fast in the worst case in the number of variables and the degree of polynomials. In the present article we show how to simplify computations when the mechanism contains revolute joints. The idea is based on the fact that the ideal representing the constraints of the revolute joint is not prime. Choosing the appropriate prime component reduces significantly the computational cost. We illustrate the method by applying it to the well known Bennett's and Bricard's mechanisms, but it can be applied to any mechanism which has revolute joints.

Explore related subjects

math.AG cs.NA math.AC math.NA

Keep this discovery

BibTeX RIS

Jukka Tuomela. 2025-01-06. Analysis of kinematics of mechanisms containing revolute joints. https://arxiv.org/abs/2501.06217

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Perverse Euler Characteristics of Hermitian Locally Symmetric Spaces

We prove that finite-volume locally Hermitian symmetric spaces of noncompact type have nonnegative perverse Euler characteristics. To show this, we obtain a nefness result for the logarithmic cotangent bundle of a smooth toroidal compactification. Combining this with a positivity criterion for Euler characteristics of perverse sheaves, we deduce the nonnegativity result. We further prove that the inequality is strict for perverse sheaves with full support. As applications, we get nonnegativity results for perverse Euler characteristics on various moduli spaces.

math.AG↗

arXiv2026

Coupled Pklt Tuples and Varieties of Pklt Type

We introduce asymptotic multiplier ideal sheaves and log canonical thresholds associated with tuples of pseudoeffective divisors on a projective klt pair. We prove that the threshold of a coupled potentially klt tuple is computed by a quasi-monomial valuation. For varieties of potentially klt type, we prove that every big divisor admits a birational Zariski decomposition with semiample positive part. We also prove finite generation of multisection rings of big divisors and give a criterion for a variety of potentially klt type to be a Mori dream space.

math.AG↗

arXiv2026

Graded Betti numbers of general curves of large degree

Let $C$ be a smooth projective complex curve of genus $g$ and gonality $k$, and $L$ be a very ample line bundle on $C$. When $L$ has sufficiently large degree, the vanishing and nonvanishing of the Koszul cohomology groups $K_{p,q}(C,L)$ have been determined previously, but the exact values of the graded Betti numbers $\kappa_{p,q}(C, L)$ remain largely unknown. In this paper, we give explicit closed formulas for all graded Betti numbers $\kappa_{p,q}(C, L)$ when the Brill--Noether locus $W_k^1(C)$ has the expected dimension and $H^1(C, L \otimes \omega_C^{-1})=0$. Consequently, we determine the complete Betti table for a general curve when $\deg L \geq 4g-3$ or when $\deg L \geq 3g-3$ and $L$ is general. We also explicitly compute the Boij--S\"{o}derberg coefficient of the section ring $R(C, L)$ governing asymptotic purity, and show eventual monotonicity of the remaining coefficients: they decrease for hyperelliptic curves and increase under a natural generic reducedness assumption on the relevant Brill--Noether loci.

math.AG↗