Publication
Solution intervals for variables in spatial RCRCR linkages
Journal Article (2019)
Journal
Mechanism and Machine Theory
Pages
481-492
Volume
133
Doc link
https://doi.org/10.1016/j.mechmachtheory.2018.12.007
File
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.
Categories
robot kinematics.
Author keywords
Solution intervals; 3R2C linkages; Position analysis; Forward and inverse kinematics
Scientific reference
E. Celaya. Solution intervals for variables in spatial RCRCR linkages. Mechanism and Machine Theory, 133: 481-492, 2019.
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