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On closed-form solutions to the position analysis of Baranov trusses

Autor
Rojas, N.E.; Thomas, F.
Tipus d'activitat
Article en revista
Revista
Mechanism and machine theory
Data de publicació
2012
Volum
50
Pàgina inicial
179
Pàgina final
196
DOI
https://doi.org/10.1016/j.mechmachtheory.2011.10.010 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/17912 Obrir en finestra nova
URL
http://dx.doi.org/10.1016/j.mechmachtheory.2011.10.010 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 usually involves, as a first step, obtaining a system of equations derived from the independent kinematic loops of the mechanism. Although conceptually simple, the use of kinematic loops for deriving characteristic polynomials leads to complex variable eliminations and, in most cases, trigonometric substitutions. As an alternative, a method based on bilaterat...
Citació
Rojas, N.E.; Thomas, F. On closed-form solutions to the position analysis of Baranov trusses. "Mechanism and machine theory", 2012, vol. 50, p. 179-196.
Paraules clau
Baranov trusses, Bilateration, Characteristic polynomial, Position analysis
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

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