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Closed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method

Autor
Rojas, N.E.; Thomas, F.
Tipus d'activitat
Article en revista
Revista
Journal of mechanisms and robotics
Data de publicació
2011
Volum
3
Número
3
Pàgina inicial
1
Pàgina final
10
DOI
https://doi.org/10.1115/1.4004031 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/13238 Obrir en finestra nova
Resum
The exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived from the independent kinematic loops of the mechanism. The use of kinematic loops to this end has seldom been questioned despite deriving the characteristic polynomial from them requires complex variable eliminations and, in most cases, trigonometric substitutions. As an alte...
Citació
Rojas, N.E.; Thomas, F. Closed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method. "Journal of mechanisms and robotics", 2011, vol. 3, núm. 3, p. 1-10.
Paraules clau
Assur kinematic chains, Baranov trusses, Bilateration, Distance-based formulations, Position analysis, Robot kinematics
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

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