Now showing items 1-13 of 13

    • A coordinate-free approach to tracing the coupler curves of pin-jointed linkages 

      Rojas Libreros, Nicolás Enrique; Thomas, Federico (ASME PRESS, 2011)
      Conference report
      Restricted access - publisher's policy
      In general, high-order coupler curves of plane mechanisms cannot be properly traced by standard predictor-corrector algorithms due to drifting problems and the presence of singularities. Instead of focusing on finding ...
    • A distance-based formulation of the octahedral manipulator kinematics 

      Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (2010)
      Conference report
      Open Access
      In most practical implementations of the Gough-Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular instance of the Gough-Stewart platform, commonly known ...
    • A robust forward kinematics analysis of 3-RPR planar platforms 

      Rojas Libreros, Nicolás Enrique; Thomas, Federico (Springer Verlag, 2010)
      Conference report
      Open Access
      The standard forward kinematics analysis of 3-RPR 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 (2015-12-01)
      Article
      Open Access
      This 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 pin-jointed linkages 

      Thomas, Federico; Rojas Libreros, Nicolás Enrique (ASME PRESS, 2013)
      Article
      Restricted access - publisher's policy
      In general, high-order coupler curves of single-degree-of-freedom plane linkages cannot be properly traced by standard predictor–corrector algorithms due to drifting problems and the presence of singularities. Instead of ...
    • Closed-form 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 policy
      The 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 ...
    • Distance-based position analysis of the three seven-link Assur kinematic chains 

      Rojas Libreros, Nicolás Enrique; Thomas, Federico (2011-02)
      Article
      Open Access
      The position analysis of planar linkages has been dominated by resultant elimination and tangent-half-angle substitution techniques applied to sets of kinematic loop equations. This analysis is thus reduced to finding ...
    • On closed-form solutions to the position analysis of Baranov trusses 

      Rojas Libreros, Nicolás Enrique; Thomas, Federico (2012)
      Article
      Open Access
      The 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 3-RPR planar robots: a review and a distance-based formulation 

      Rojas Libreros, Nicolás Enrique; Thomas, Federico (2011)
      Article
      Open Access
      The standard forward kinematics analysis of 3-RPR 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 Access
      In 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 Gough-Stewart platform, commonly ...
    • The univariate closure conditions of all fully parallel planar robots derived from a single polynomial 

      Rojas Libreros, Nicolás Enrique; Thomas, Federico (2013-06)
      Article
      Restricted access - publisher's policy
      The 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 Access
      The 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 Access
      The 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 ...