论文标题
然而，它移动了：运动学中矛盾的移动链接
And Yet It Moves: Paradoxically Moving Linkages in Kinematics
论文作者
论文摘要
机械连接的配置空间由代数条件定义，由在受关节约束的空间中移动的刚体组成。如果这些方程未定义完整的交叉点，则配置空间的尺寸高于预期。这些联系违反了Chebychev-Grübler-Kutzbach公式，以获得机动性的自由度。数学家开发了多种描述和理解这种现象的方法。本文解释了其中一些。
The configuration space of a mechanical linkage, consisting of rigid bodies moving in space constrained by joints, is defined by algebraic conditions. If these equations do not define a complete intersection, then the dimension of the configuration space is higher than expected. These linkages violate the Chebychev-Grübler-Kutzbach formula for the degree of freedom of mobility. Mathematicians developed a variety of methods to describe and understand this phenomenon. This paper explains some of them.
