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Feasibility of motion laws for planar one degree of freedom linkage mechanisms at dead point configurations

Author
Lores, E.; Veciana, J.; Jordi, L.
Type of activity
Journal article
Journal
Mechanical systems and signal processing
Date of publication
2018-01-01
Volume
98
Number
1
First page
834
Last page
851
DOI
https://doi.org/10.1016/j.ymssp.2017.05.015 Open in new window
Repository
http://hdl.handle.net/2117/105893 Open in new window
URL
http://www.sciencedirect.com/science/article/pii/S0888327017302686 Open in new window
Abstract
This paper proposes an analytical solution of the Inverse Kinematics (IK) problem at dead point configurations for any planar one degree of freedom linkage mechanism, with regard to the continuity C n of the motion law. The systems analyzed are those whose elements are linked with lower pairs and do not present redundancies. The study aims to provide the user with some rules to facilitate the design of feasible motion profiles to be reproduced by conventional electrical actuators at these config...
Citation
Lores, E., Veciana, J., Jordi, L. Feasibility of motion laws for planar one degree of freedom linkage mechanisms at dead point configurations. "Mechanical systems and signal processing", 1 Gener 2018, vol. 98, núm. 1, p. 834-851.
Keywords
Dead point, Inverse kinematics, Linkage mechanism, Motion law, Singular configuration
Group of research
CDEI - Center for Industrial Equipment Design

Participants