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Solution intervals for variables in spatial RCRCR linkages

Author
Celaya, E.
Type of activity
Journal article
Journal
Mechanism and machine theory
Date of publication
2019-03-01
Volume
133
First page
481
Last page
492
DOI
10.1016/j.mechmachtheory.2018.12.007
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Repository
http://hdl.handle.net/2117/182626 Open in new window
URL
https://www.sciencedirect.com/science/article/pii/S0094114X18304865 Open in new window
Abstract
An analytic method to compute the solution intervals for the input variables of spatial RCRCR linkages and their inversions is presented. The input-output equation is formulated as the intersection of a single ellipse with a parameterized family of ellipses, both related with the possible values that certain dual angles determined by the configuration of the mechanism can take. Bounds for the angles of the input pairs of the RCRCR and RRCRC inversions are found by imposing the tangency of two el...
Citation
Celaya, E. Solution intervals for variables in spatial RCRCR linkages. "Mechanism and machine theory", 1 Març 2019, vol. 133, p. 481-492.
Keywords
3R2C linkages, Forward and inverse kinematics, Position analysis, Solution intervals
Group of research
KRD - Kinematics and Robot Design

Participants