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A coordinate-free approach to tracing the coupler curves of pin-jointed linkages
dc.contributor.author | Rojas Libreros, Nicolás Enrique |
dc.contributor.author | Thomas, Federico |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2012-09-12T09:48:37Z |
dc.date.created | 2011 |
dc.date.issued | 2011 |
dc.identifier.citation | Rojas, N.E.; Thomas, F. A coordinate-free approach to tracing the coupler curves of pin-jointed linkages. A: ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. "ASME Conference Proceedings Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B". San Diego: ASME Press, 2011, p. 417-426. |
dc.identifier.isbn | 978-0-7918-5483-9 |
dc.identifier.uri | http://hdl.handle.net/2117/16469 |
dc.description | Honorable mention, ASME Mechanisms and Robotics Committee Best Paper Award |
dc.description.abstract | 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 better algorithms for tracing curves, a simple coordinate-free method that first traces these curves in a distance space and then maps them onto the mechanism workspace is proposed. Tracing a coupler curve in the proposed distance space is much simpler because (a) the equation of this curve in this space can be straightforwardly obtained from a sequence of bilaterations; and (b) the curve in this space naturally decomposes into branches in which the signs of the oriented areas of the triangles involved in the aforementioned bilaterations remain constant. A surjective mapping permits to map the thus traced curves onto the workspace of the mechanism. The advantages of this two-step method are exemplified by tracing the coupler curves of a double butterfly linkage, curves that can reach order 48. |
dc.format.extent | 10 p. |
dc.language.iso | eng |
dc.publisher | ASME PRESS |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Kinematics |
dc.subject.other | Robot kinematics |
dc.subject.other | Linkages |
dc.subject.other | Coupler curves |
dc.subject.other | Double butterfly linkage |
dc.title | A coordinate-free approach to tracing the coupler curves of pin-jointed linkages |
dc.type | Conference report |
dc.subject.lemac | Cinemàtica |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1115/DETC2011-48147 |
dc.description.awardwinning | Award-winning |
dc.relation.publisherversion | http://dx.doi.org/10.1115/DETC2011-48147 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 10804412 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Rojas, N.E.; Thomas, F. |
local.citation.contributor | ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference |
local.citation.pubplace | San Diego |
local.citation.publicationName | ASME Conference Proceedings Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B |
local.citation.startingPage | 417 |
local.citation.endingPage | 426 |