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Closed-form position analysis of variable geometry trusses

Autor
Porta, J.; Thomas, F.
Tipus d'activitat
Article en revista
Revista
Mechanism and machine theory
Data de publicació
2017-03-01
Volum
109
Pàgina inicial
14
Pàgina final
21
DOI
https://doi.org/10.1016/j.mechmachtheory.2016.11.004 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/116539 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0094114X16304906 Obrir en finestra nova
Resum
Variable geometry trusses are composed, in general, of unit cells which can be modeled as bars connected by spherical joints. Under mild conditions, it has been shown that the only feasible cells are topologically equivalent to bipyramids. Unfortunately, using standard formulations, the closed-form position analysis of bipyramids is not a trivial task. Actually, it has only been achieved for bipyramids with up to 7 vertices, whose closure polynomial has been shown to be of order 24. In this pape...
Citació
Porta, J., Thomas, F. Closed-form position analysis of variable geometry trusses. "Mechanism and machine theory", 1 Març 2017, vol. 109, p. 14-21.
Paraules clau
Bipyramids, Coordinate-free formulations, Distance-based formulations, Fans of tetrahedra, Position analysis, Variable geometry trusses
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

Participants