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Feasibility of motion laws for planar one degree of freedom linkage mechanisms at dead point configurations

Autor
Lores, E.; Veciana, J.; Jordi, L.
Tipus d'activitat
Article en revista
Revista
Mechanical systems and signal processing
Data de publicació
2018-01-01
Volum
98
Número
1
Pàgina inicial
834
Pàgina final
851
DOI
https://doi.org/10.1016/j.ymssp.2017.05.015 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/105893 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0888327017302686 Obrir en finestra nova
Resum
This paper proposes an analytical solution of the Inverse Kinematics (IK) problem at dead point configurations for any planar one degree of freedom linkage mechanism, with regard to the continuity C n of the motion law. The systems analyzed are those whose elements are linked with lower pairs and do not present redundancies. The study aims to provide the user with some rules to facilitate the design of feasible motion profiles to be reproduced by conventional electrical actuators at these config...
Paraules clau
Inverse Kinematics, Linkage Mechanism, Singular Configuration, Dead Point, Motion Law

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