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Distance-based position analysis of the three seven-link Assur kinematic chains

Autor
Rojas, N.E.; Thomas, F.
Tipus d'activitat
Article en revista
Revista
Mechanism and machine theory
Data de publicació
2011-02
Volum
46
Número
2
Pàgina inicial
112
Pàgina final
126
DOI
https://doi.org/10.1016/j.mechmachtheory.2010.10.004 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/15964 Obrir en finestra nova
Resum
The position analysis of planar linkages has been dominated by resultant elimination and tangent-half-angle substitution techniques applied to sets of kinematic loop equations. This analysis is thus reduced to finding the roots of a polynomial in one variable, the characteristic polynomial of the linkage. In this paper, by using a new distance-based technique, it is shown that this standard approach becomes unnecessarily involved when applied to the position analysis of the three seven-link Assu...
Citació
Rojas, N.E.; Thomas, F. Distance-based position analysis of the three seven-link Assur kinematic chains. "Mechanism and machine theory", Febrer 2011, vol. 46, núm. 2, p. 112-126.
Paraules clau
Assur kinematic chains, Bilateration, Cayley–Menger determinants, Distance-based formulations, Position analysis
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

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