Browsing by Author "Rojas Libreros, Nicolás Enrique"
Now showing items 1-12 of 12
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A coordinate-free approach to tracing the coupler curves of pin-jointed linkages
(ASME PRESS, 2011)
Conference report
Restricted access - publisher's policyIn 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
(2010)
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 particular instance of the Gough-Stewart platform, commonly known ... -
A robust forward kinematics analysis of 3-RPR planar platforms
(Springer Verlag, 2010)
Conference report
Open AccessThe 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
(2015-12-01)
Article
Open AccessThis 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
(ASME PRESS, 2013)
Article
Restricted access - publisher's policyIn 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
(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 ... -
Distance-based position analysis of the three seven-link Assur kinematic chains
(2011-02)
Article
Open AccessThe 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
(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 3-RPR planar robots: a review and a distance-based formulation
(2011)
Article
Open AccessThe 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
(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 Gough-Stewart platform, commonly ... -
The univariate closure conditions of all fully parallel planar robots derived from a single polynomial
(2013-06)
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
(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 ...
