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dc.contributor.authorCelaya Llover, Enric
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2020-04-01T08:16:12Z
dc.date.available2020-04-01T08:16:12Z
dc.date.issued2019-03-01
dc.identifier.citationCelaya, E. Solution intervals for variables in spatial RCRCR linkages. "Mechanism and machine theory", 1 Març 2019, vol. 133, p. 481-492.
dc.identifier.issn0094-114X
dc.identifier.urihttp://hdl.handle.net/2117/182626
dc.description© 2019. Elsevier
dc.description.abstractAn 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.extent12 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherSolution intervals
dc.subject.other3R2C linkages
dc.subject.otherPosition analysis
dc.subject.otherForward and inverse kinematics
dc.titleSolution intervals for variables in spatial RCRCR linkages
dc.typeArticle
dc.contributor.groupUniversitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots
dc.identifier.doi10.1016/j.mechmachtheory.2018.12.007
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttps://www.sciencedirect.com/science/article/pii/S0094114X18304865
dc.rights.accessOpen Access
local.identifier.drac23663580
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo: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.authorCelaya, E.
local.citation.publicationNameMechanism and machine theory
local.citation.volume133
local.citation.startingPage481
local.citation.endingPage492


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