Re-examination of a kempe linkageReexamen d'un mecanisme de kempe |
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| Authors: | J.Eddie Baker Yu Hon-Cheung |
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| Affiliation: | Department of Applied Mechanics, The University of New South Wales, P.O. Box 1, Kensington, N.S.W. 2033, Australia;Cavendish Construction Ltd., The Hong Kong Electric Group, 44 Kennedy Road, Hong Kong |
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| Abstract: | More than a century ago, A. B. Kempe isolated several multiloop planar linkages, provoking considerable interest among mathematicians. Largely forgotten now, his work has not been followed up in the kinematics literature. One particularly fascinating solution lends itself more readilythan others to spatial analogues, but Kempe erred in its determination. Here, we present a fresh analysis of that solution, using an adaptation of closure equation algebra. Further insight is provided by means of some novel geometrical techniques. Attention is also given to the general matter of the mobility of multiloop linkages. |
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