A new insight into the coupler curves of the RCCC four-bar linkage
Document typeConference report
Rights accessOpen Access
ProjectESTRATEGIAS DE CONTROL PARA UN ROBOT ACTUADO POR CABLES PARA SIMULACION DE BAJA GRAVEDAD (MINECO-DPI2014-57220-C2-2-P)
Based on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation is not only its simplicity, but the elegant way in which we can obtain the derivative of any variable with respect to any other, and the simple way in which intervals of monotonicity can be detected. All these results are compactly expressed in terms of Gramians and, as a consequence, they have a direct geometric meaning contrarily to what happens with previous approaches based on kinematic loop equations.
The final publication is available at link.springer.com
CitationThomas, F.; Pérez, A. A new insight into the coupler curves of the RCCC four-bar linkage. A: International Workshop on Computational Kinematics. "Proceedings of the 7th International Workshop on Computational Kinematics". Berlín: Springer, 2017, p. 552-559.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder