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dc.contributor.authorThomas, Federico
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationThomas, F., Porta, J.M. Closure polynomials for strips of tetrahedra. A: International Conference on Advances in Robot Kinematics. "Advances in Robot Kinematics, Vol 4 of Springer Proceedings in Advanced Robotics". Grasse: Springer, 2016, p. 303-312.
dc.descriptionThe final publication is available at
dc.description.abstractA tetrahedral strip is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. Unless any of the tetrahedra degenerate, such a truss is rigid. In this case, if the distance between the strip endpoints is imposed, any rod length in the truss is constrained by all the others to attain discrete values. In this paper, it is shown how to characterize these values as the roots of a closure polynomial whose derivation requires surprisingly no other tools than elementary algebraic manipulations. As an application of this result, the forward kinematics of two parallel platforms with closure polynomials of degree 16 and 12 is straightforwardly solved.
dc.format.extent10 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherPosition analysis
dc.subject.otherclosed-form solutions
dc.subject.otherDistance Geometry
dc.subject.otherspatial linkages
dc.titleClosure polynomials for strips of tetrahedra
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
upcommons.citation.authorThomas, F.; Porta, J.M.
upcommons.citation.contributorInternational Conference on Advances in Robot Kinematics
upcommons.citation.publicationNameAdvances in Robot Kinematics, Vol 4 of Springer Proceedings in Advanced Robotics

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