Constraint reduction based on a Lie algebra for kinematic analysis of assembly

In assembly modeling, it is necessary to capture the relative positions of components in the assembly. Many problems are related to constraint representation and its manipulation, such as constraint reduction. This paper formulates the constraints as groups of rigid body transformations and proposes a constraint reduction procedure based on the Lie algebra. This approach is then applied to the constraint representation and reduction in an assembly model. The reduced kinematic model of assembly can be derived by the proposed method for kinematic analysis.