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dc.contributor.authorRojas Libreros, Nicolás Enrique
dc.contributor.authorThomas, Federico
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2011-09-19T11:35:37Z
dc.date.available2011-09-19T11:35:37Z
dc.date.created2011
dc.date.issued2011
dc.identifier.citationRojas, N.E.; Thomas, F. Closed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method. "Journal of mechanisms and robotics", 2011, vol. 3, núm. 3, p. 1-10.
dc.identifier.issn1942-4302
dc.identifier.urihttp://hdl.handle.net/2117/13238
dc.description.abstractThe 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 from the independent kinematic loops of the mechanism. The use of kinematic loops to this end has seldom been questioned despite deriving the characteristic polynomial from them requires complex variable eliminations and, in most cases, trigonometric substitutions. As an alternative, the bilateration method has recently been used to obtain the characteristic polynomials of the three-loop Baranov trusses without relying on variable eliminations nor trigonometric substitutions and using no other tools than elementary algebra. This paper shows how this technique can be applied to members of a family of Baranov trusses resulting from the circular concatenation of the Watt mechanism irrespective of the resulting number of kinematic loops. To our knowledge, this is the first time that the characteristic polynomial of a Baranov truss with more that five loops has been obtained, and hence, its position analysis solved in closed form.
dc.format.extent10 p.
dc.language.isoeng
dc.publisherASME PRESS
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica::Mecànica::Cinemàtica
dc.subject.lcshRobots -- Kinematics
dc.subject.otherRobot kinematics
dc.subject.otherBaranov trusses
dc.subject.otherAssur kinematic chains
dc.subject.otherPosition analysis
dc.subject.otherBilateration
dc.subject.otherDistance-based formulations
dc.titleClosed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method
dc.typeArticle
dc.subject.lemacRobots -- Cinemàtica
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1115/1.4004031
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac5961318
dc.description.versionPostprint (published version)
local.citation.authorRojas, N.E.; Thomas, F.
local.citation.publicationNameJournal of mechanisms and robotics
local.citation.volume3
local.citation.number3
local.citation.startingPage1
local.citation.endingPage10


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