چكيده به لاتين
In this thesis, we define n-bar linkage, it's configuration space and generic length vector. Using the case of the Regular Level Set Theorem, we show that the configuration space for each n-bar linkage with a generic length vector is a smooth manifold of dimension n-3 .
For further understanding the geometric structure of n-bar linkages, we also describe the topology of the 4-bar linkage and it's configuration space in more details.
Using kinetic energy of linkage, we define geodesics for configuration space of linkage and then we compute the curvature for the case where the configuration space is a surface canonically embedded in to
Euclidean space R^n.
Finally, we obtain the curvature of the robot arm linkage,
which is one of the most famous linkage step-by-step and using the curvature of the robot arm we derive certain states of the configuration of this linkage.
