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Triangular-fan-based algorithm for computing the closure conditions of planar linkages

Autor
Vaca, R.; Aranda, J.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
11th World Congress on Computational Mechanics
Any de l'edició
2014
Data de presentació
2014-07-24
Llibre d'actes
11th World Congress on Computational Mechanics (WCCM XI); 5th European Conference on Computational Mechanics (ECCM V); 6th European Conference on Computational Fluid Dynamics (ECFD VI): July 20-25, 2014, Barcelona, Spain
Pàgina inicial
1
Pàgina final
2
Projecte finançador
Estudio y desarrollo de técnicas de aprendizaje en entornos robóticos con control compartido
URL
http://www.wccm-eccm-ecfd2014.org/admin/files/fileabstract/a3635.pdf Obrir en finestra nova
Resum
The position analysis of a planar mechanism is based on obtaining the roots of its characteristic polynomial. In general, this polynomial is the result of a system of kinematic equations which they are derived from closure condition of the mechanism, widely known as independent kinematic loop equations or loop closure equations . This way of solving the position analysis of kinematic chains introduces complex variable eliminations, and in general trigonometric substitutions. Recently, the use of...
Paraules clau
Position Analysis, Bilateration, Rigidity, Isomorphism, Kinematic
Grup de recerca
CREB - Centre de Recerca en Enginyeria Biomedica
GRINS - Robòtica Intel·ligent i Sistemes

Participants