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Application of distance geometry to tracing coupler curves of pin-jointed linkages

Autor
Thomas, F.; Rojas, N.E.
Tipus d'activitat
Article en revista
Revista
Journal of mechanisms and robotics
Data de publicació
2013
Volum
5
Número
2
Pàgina inicial
021001
DOI
https://doi.org/10.1115/1.4023515 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/19007 Obrir en finestra nova
URL
http://mechanismsrobotics.asmedigitalcollection.asme.org/mobile/article.aspx?articleid=1673585 Obrir en finestra nova
Resum
In general, high-order coupler curves of single-degree-of-freedom plane linkages cannot be properly traced by standard predictor–corrector algorithms due to drifting problems and the presence of singularities. Instead of focusing on finding better algorithms for tracing curves, a simple method that first traces the configuration space of planar linkages in a distance space and then maps it onto the mechanism workspace, to obtained the desired coupler curves, is proposed. Tracing the configurat...
Citació
Thomas, F.; Rojas, N.E. Application of distance geometry to tracing coupler curves of pin-jointed linkages. "Journal of mechanisms and robotics", 2013, vol. 5, núm. 2.
Paraules clau
automation linkages, configuration spaces, coupler curves, distance geometry, double butterfly linkage
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants