On constraint manifolds of planar and spherical mechanisms in Lorentzian space

Abstract

This study aims to investigate the algebraic forms of the constraint manifolds of 4 R and 6 R planar and spherical closed chains in Lorentzian space. For this purpose, firstly, the structure equations of closed chains are obtained by using the structure equations of planar and spherical open chains in Lorentzian space. Then, using these equations, the algebraic forms of the constraint manifolds of 4 R and 6 R planar and spherical closed chains in spacelike and timelike mechanisms are constructed and it is shown which curves these manifolds correspond to