A central problem of designing machine is to control the motion of some parts. For instance: how can a machine draw a perfect straight line using only rigid bars and rotating joints?
Beginning with the basic idea of a linkage, this lecture explains how geometric constraints translate into motion and why circular arcs arise so naturally. The mathematical problem is then to understand all possible motion with such linkage assembly, linking abstract geometry to concrete mechanical motion.
Barnard's Inn Hall
How to Draw a Straight Line? The Mathematics of Linkages
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A central problem of designing machine is to control the motion of some parts. For instance: how can a machine draw a perfect straight line using only rigid bars and rotating joints?
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