Para acceder a los documentos con el texto completo, por favor, siga el siguiente enlace: http://hdl.handle.net/2117/6838

A linear relaxation technique for the position analysis of multiloop linkages
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial
This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted formulation yields a system of simple equations (only containing linear, bilinear, and quadratic monomials, and trivial trigonometric terms for the helical pair only) whose structure is later exploited by a branch-and-prune method based on linear relaxations. The method is general, as it can be applied to linkages with single or multiple loops with arbitrary topology, involving lower pairs of any kind, and complete, as all possible solutions get accurately bounded, irrespective of whether the linkage is rigid or mobile.
Peer Reviewed
Closed chain Forward and inverse kinematics Geometric constraint Loop closure Multibody system Multiloop linkage Position analysis
info:eu-repo/semantics/publishedVersion
Artículo
         

Mostrar el registro completo del ítem

Documentos relacionados

Otros documentos del mismo autor/a

Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico; Corcho Sánchez, Francisco José; Cantó Silva, Josep; Pérez, Juan J.
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Creemers, Tom Lambert; Thomas, Federico
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico
Porta Pleite, Josep Maria; Cortes, Juan; Ros Giralt, Lluís; Thomas, Federico
Porta Pleite, Josep Maria; Ros Giralt, Lluís; Schulze, Bernd; Sljoka, Adnan; Whiteley, Walter