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Solution intervals for variables in spatial RCRCR linkages
dc.contributor.author | Celaya Llover, Enric |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2020-04-01T08:16:12Z |
dc.date.available | 2020-04-01T08:16:12Z |
dc.date.issued | 2019-03-01 |
dc.identifier.citation | Celaya, E. Solution intervals for variables in spatial RCRCR linkages. "Mechanism and machine theory", 1 Març 2019, vol. 133, p. 481-492. |
dc.identifier.issn | 0094-114X |
dc.identifier.uri | http://hdl.handle.net/2117/182626 |
dc.description | © 2019. Elsevier |
dc.description.abstract | An analytic method to compute the solution intervals for the input variables of spatial RCRCR linkages and their inversions is presented. The input-output equation is formulated as the intersection of a single ellipse with a parameterized family of ellipses, both related with the possible values that certain dual angles determined by the configuration of the mechanism can take. Bounds for the angles of the input pairs of the RCRCR and RRCRC inversions are found by imposing the tangency of two ellipses, what reduces to analyzing the discriminant of a fourth degree polynomial. The bounds for the input pair of the RCRRC inversion is found as the intersection of a single ellipse with the envelope of the parameterized family of ellipses. The method provides the bounds of each of the assembly modes of the mechanism as well as the local extrema that may exist for the input variable |
dc.format.extent | 12 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::Informàtica::Robòtica |
dc.subject.other | Solution intervals |
dc.subject.other | 3R2C linkages |
dc.subject.other | Position analysis |
dc.subject.other | Forward and inverse kinematics |
dc.title | Solution intervals for variables in spatial RCRCR linkages |
dc.type | Article |
dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
dc.identifier.doi | 10.1016/j.mechmachtheory.2018.12.007 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0094114X18304865 |
dc.rights.access | Open Access |
local.identifier.drac | 23663580 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO//DPI2014-57220-C2-2-P/ES/ESTRATEGIAS DE CONTROL PARA UN ROBOT ACTUADO POR CABLES PARA SIMULACION DE BAJA GRAVEDAD/ |
local.citation.author | Celaya, E. |
local.citation.publicationName | Mechanism and machine theory |
local.citation.volume | 133 |
local.citation.startingPage | 481 |
local.citation.endingPage | 492 |
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