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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关于洛伦兹球的约束流形

摘要 机构结构方程的表达对于表示机构的末位具有重要意义。此外，为了获得链的约束流形，我们需要构造结构方程。在本文中，我们确定了洛伦兹空间中球形开链的结构方程和约束流形。结合第一环的因果特征，得到球形开链的结构方程。后来，机构的约束流形通过这些方程确定。研究了对应于这些流形的几何结构。