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Triangular-fan-based algorithm for computing the closure conditions of planar linkages

Author
Vaca, R.; Aranda, J.
Type of activity
Presentation of work at congresses
Name of edition
11th World Congress on Computational Mechanics
Date of publication
2014
Presentation's date
2014-07-24
Book of congress proceedings
11th World Congress on Computational Mechanics (WCCM XI); 5th European Conference on Computational Mechanics (ECCM V); 6th European Conference on Computational Fluid Dynamics (ECFD VI): July 20-25, 2014, Barcelona, Spain
First page
1
Last page
2
Project funding
Estudio y desarrollo de técnicas de aprendizaje en entornos robóticos con control compartido
URL
http://www.wccm-eccm-ecfd2014.org/admin/files/fileabstract/a3635.pdf Open in new window
Abstract
The position analysis of a planar mechanism is based on obtaining the roots of its characteristic polynomial. In general, this polynomial is the result of a system of kinematic equations which they are derived from closure condition of the mechanism, widely known as independent kinematic loop equations or loop closure equations . This way of solving the position analysis of kinematic chains introduces complex variable eliminations, and in general trigonometric substitutions. Recently, the use of...
Keywords
Bilateration, Isomorphism, Kinematic, Position analysis, Rigidity
Group of research
CREB - Biomedical Engineering Research Centre
GRINS - Intelligent Robots and Systems

Participants