IntranetPublication
On closed-form solutions to the position analysis of Baranov trusses
Journal Article (2012)
Journal
Mechanism and Machine Theory
Pages
179-196
Volumen
50
Doc link
http://dx.doi.org/10.1016/j.mechmachtheory.2011.10.010
File
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 cataloged 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.
Categories
robot kinematics.
Author keywords
position analysis, Baranov trusses, bilateration, characteristic polynomial
Scientific reference
N. Rojas and F. Thomas. On closed-form solutions to the position analysis of Baranov trusses. Mechanism and Machine Theory, 50: 179-196, 2012.
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