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Polynomial solution to the position analysis of two Assur kinematic chains with four loops and the same topology

Autor
Borras, J.; Di Gregorio, S.
Tipus d'activitat
Article en revista
Revista
Journal of mechanisms and robotics
Data de publicació
2009
Volum
1
Número
2
Pàgina inicial
0210031
Pàgina final
0210311
DOI
https://doi.org/10.1115/1.3046134 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/6411 Obrir en finestra nova
URL
http://dx.doi.org/10.1115/1.3046134 Obrir en finestra nova
Resum
The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint variables corresponds to considering the actuated joints locked, which makes the manipulator a structure. The solutions of the DPA of a manipulator one to one correspond to the assembly modes of the structure that is generated by locking the actuated-joint variables of that manip...
Citació
Borras, J.; Di Gregorio, R. Polynomial solution to the position analysis of two Assur kinematic chains with four loops and the same topology. "Journal of Mechanisms and Robotics", 2009, vol. 1, núm. 2, p. 0210031-0210311.

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