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Abstract
The expression of the structure equation of a mechanism is significant to present the last position of the mechanism. Moreover, in order to attain the constraint manifold of a chain, we need to constitute the structure equation. In this paper, we determine the structure equations and the constraint manifolds of a spherical open-chain in the Lorentz space. The structure equations of spherical open chain with reference to the causal character of the first link are obtained. Later, the constraint manifolds of the mechanism are determined by means of these equations. The geometric constructions corresponding to these manifolds are studied.
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Details
1 Department of Mathematics, Faculty of Science and Arts, University of Kırıkkale, 71450-Yahşihan, Kırıkkale, Turkey
2 Department of Mathematics, Faculty of Science, University of Atatürk 25240-Yakutiye, Erzurum, Turkey