CDR - Cinemàtica i Disseny de Robots: Enviaments recents

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    • A distance geometry approach to the singularity analysis of 3R robots 

      Thomas, Federico (ASME PRESS, 2015)
      Article
      Accés restringit per política de l'editorial
      This paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective ...

    • A unified position analysis of the Dixon and the generalized Peaucellier linkages 

      Rojas Libreros, Nicolás Enrique; Dollar, Aaron M.; Thomas, Federico (2015-12-01)
      Article
      Accés obert
      This paper shows how, using elementary Distance Geometry, a closure polynomial of degree 8 for the Dixon linkage can be derived without any trigonometric substitution, variable elimination, or artifice to collapse mirror ...