Mathematics

Since the pioneering works of Hamilton and Study, algebraic geometers have been interested in kinematics, namely in the study of rigidity or flexibility of mechanical devices. Algebraic objects, as quaternions, provide useful tools to investigate motions of devices, whose constraints (like rotational, or translational, or spherical joints) can be modeled via polynomial equations. This opens the door to the use of algebraic geometry in this field. I will report uses of geometric techniques for the study of planar motions, parallel manipulators and, if time permits, spherical rigidity and flexibility.