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A coordinate-free approach to tracing the coupler curves of pin-jointed linkages

Author
Rojas, N.E.; Thomas, F.
Type of activity
Presentation of work at congresses
Name of edition
ASME 2011 International Design Engineering Technical Conferences
Date of publication
2011
Presentation's date
2011
Book of congress proceedings
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2011): August 28-31, 2011, Washington, DC, USA: volume 6: 35th Mechanisms and Robotics Conference, parts A and B
First page
417
Last page
426
Publisher
ASME PRESS
DOI
https://doi.org/10.1115/DETC2011-48147 Open in new window
Rewarded activity
Yes
Repository
http://hdl.handle.net/2117/16469 Open in new window
Abstract
Honorable mention, ASME Mechanisms and Robotics Committee Best Paper Award In general, high-order coupler curves of plane mechanisms cannot be properly traced by standard predictor-corrector algorithms due to drifting problems and the presence of singularities. Instead of focusing on finding better algorithms for tracing curves, a simple coordinate-free method that first traces these curves in a distance space and then maps them onto the mechanism workspace is proposed. Tracing a coupler curve i...
Citation
Rojas, N.E.; Thomas, F. A coordinate-free approach to tracing the coupler curves of pin-jointed linkages. A: ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. "ASME Conference Proceedings Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B". San Diego: ASME Press, 2011, p. 417-426.
Keywords
Coupler curves, Double butterfly linkage, Linkages, Robot kinematics
Group of research
KRD - Kinematics and Robot Design

Participants