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A unified position analysis of the Dixon and the generalized Peaucellier linkages

Autor
Rojas , N.E.; Dollar, A.; Thomas, F.
Tipus d'activitat
Article en revista
Revista
Mechanism and machine theory
Data de publicació
2015-12-01
Volum
94
Pàgina inicial
28
Pàgina final
40
DOI
https://doi.org/10.1016/j.mechmachtheory.2015.07.008 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/79349 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0094114X1500169X Obrir en finestra nova
Resum
This paper shows how, using elementary Distance Geometry, a closure polynomial of degree 8 for the Dixon linkage can be derived without any trigonometric substitution, variable elimination, or artifice to collapse mirror configurations. The formulation permits the derivation of the geometric conditions required in order for each factor of the leading coefficient of this polynomial to vanish. These conditions either correspond to the case in which the quadrilateral defined by four joints is ortho...
Citació
Rojas , N.E., Dollar, A., Thomas, F. A unified position analysis of the Dixon and the generalized Peaucellier linkages. "Mechanism and machine theory", 01 Desembre 2015, vol. 94, p. 28-40.
Paraules clau
Coupler curves, Distance Geometry, Distance-based kinematics, Dixon linkage, Generalized Peaucellier linkage, Position analysis
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

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