Browsing by Author "Rojas Libreros, Nicolás Enrique"

A coordinatefree approach to tracing the coupler curves of pinjointed linkages
Rojas Libreros, Nicolás Enrique; Thomas, Federico (ASME PRESS, 2011)
Conference report
Restricted access  publisher's policyIn general, highorder coupler curves of plane mechanisms cannot be properly traced by standard predictorcorrector algorithms due to drifting problems and the presence of singularities. Instead of focusing on finding ... 
A distancebased formulation of the octahedral manipulator kinematics
Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (2010)
Conference report
Open AccessIn most practical implementations of the GoughStewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular instance of the GoughStewart platform, commonly known ... 
A robust forward kinematics analysis of 3RPR planar platforms
Rojas Libreros, Nicolás Enrique; Thomas, Federico (Springer Verlag, 2010)
Conference report
Open AccessThe standard forward kinematics analysis of 3RPR planar parallel platforms boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but all of them include exceptions ... 
A unified position analysis of the Dixon and the generalized Peaucellier linkages
Rojas Libreros, Nicolás Enrique; Dollar, Aaron M.; Thomas, Federico (20151201)
Article
Restricted access  publisher's policyThis paper shows how, using elementary Distance Geometry, a closure polynomial of degree 8 for the Dixon linkage can be derived without any trigonometric substitution, variable elimination, or artifice to collapse mirror ... 
Application of distance geometry to tracing coupler curves of pinjointed linkages
Thomas, Federico; Rojas Libreros, Nicolás Enrique (ASME PRESS, 2013)
Article
Restricted access  publisher's policyIn general, highorder coupler curves of singledegreeoffreedom plane linkages cannot be properly traced by standard predictor–corrector algorithms due to drifting problems and the presence of singularities. Instead of ... 
Closedform solution to the position analysis of Watt–Baranov trusses using the bilateration method
Rojas Libreros, Nicolás Enrique; Thomas, Federico (ASME PRESS, 2011)
Article
Restricted access  publisher's policyThe exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived ... 
Distancebased position analysis of the three sevenlink Assur kinematic chains
Rojas Libreros, Nicolás Enrique; Thomas, Federico (201102)
Article
Open AccessThe position analysis of planar linkages has been dominated by resultant elimination and tangenthalfangle substitution techniques applied to sets of kinematic loop equations. This analysis is thus reduced to finding ... 
On closedform solutions to the position analysis of Baranov trusses
Rojas Libreros, Nicolás Enrique; Thomas, Federico (2012)
Article
Open AccessThe 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 forward kinematics of 3RPR planar robots: a review and a distancebased formulation
Rojas Libreros, Nicolás Enrique; Thomas, Federico (2011)
Article
Open AccessThe standard forward kinematics analysis of 3RPR planar parallel robots boils down to computing the roots of a sextic polynomial. There are many different ways to obtain this polynomial but most of them include exceptions ... 
The octahedral manipulator revisited
Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (IEEE, 2012)
Conference report
Open AccessIn most practical implementations of the Gough Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particula r instance of the GoughStewart platform, commonly ... 
The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
Rojas Libreros, Nicolás Enrique; Thomas, Federico (201306)
Article
Restricted access  publisher's policyThe real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots ... 
The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
Rojas Libreros, Nicolás Enrique; Thomas, Federico (2013)
Article
Open AccessThe real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots ... 
The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
Rojas Libreros, Nicolás Enrique; Thomas, Federico (2013)
Article
Open AccessThe real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots ...