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On closed-form solutions to the position analysis of Baranov trusses
dc.contributor.author | Rojas Libreros, Nicolás Enrique |
dc.contributor.author | Thomas, Federico |
dc.date.accessioned | 2013-02-21T12:40:03Z |
dc.date.available | 2013-02-21T12:40:03Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Rojas, N.E.; Thomas, F. On closed-form solutions to the position analysis of Baranov trusses. "Mechanism and machine theory", 2012, vol. 50, p. 179-196. |
dc.identifier.issn | 0094-114X |
dc.identifier.uri | http://hdl.handle.net/2117/17912 |
dc.description.abstract | 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 independent kinematic loops of the mechanism. Although conceptually simple, the use of kinematic loops for deriving characteristic polynomials leads to complex variable eliminations and, in most cases, trigonometric substitutions. As an alternative, a method based on bilateration has recently been shown to permit obtaining the characteristic polynomials of the three-loop Baranov trusses without relying on variable eliminations or trigonometric substitutions. This paper shows how this technique can be applied to solve the position analysis of all catalogued Baranov trusses. The characteristic polynomials of them all have been derived and, as a result, the maximum number of their assembly modes has been obtained. A comprehensive literature survey is also included. |
dc.format.extent | 18 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Enginyeria mecànica::Mecànica::Cinemàtica |
dc.subject.lcsh | Kinematics |
dc.subject.other | Position analysis |
dc.subject.other | Baranov trusses |
dc.subject.other | Bilateration |
dc.subject.other | Characteristic polynomial |
dc.title | On closed-form solutions to the position analysis of Baranov trusses |
dc.type | Article |
dc.subject.lemac | Cinemàtica |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1016/j.mechmachtheory.2011.10.010 |
dc.rights.access | Open Access |
local.identifier.drac | 9566246 |
dc.description.version | Preprint |
local.citation.author | Rojas, N.E.; Thomas, F. |
local.citation.publicationName | Mechanism and machine theory |
local.citation.volume | 50 |
local.citation.startingPage | 179 |
local.citation.endingPage | 196 |
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