A new insight into the coupler curves of the RCCC four-bar linkage

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/131805

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor	Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots
dc.contributor.author	Thomas, Federico
dc.contributor.author	Pérez Gracia, Alba
dc.date	2017
dc.identifier.citation	Thomas, F.; Pérez, A. A new insight into the coupler curves of the RCCC four-bar linkage. A: International Workshop on Computational Kinematics. "Proceedings of the 7th International Workshop on Computational Kinematics". Berlín: Springer, 2017, p. 552-559.
dc.identifier.citation	978-3-319-60866-2
dc.identifier.citation	10.1007/978-3-319-60867-9_63
dc.identifier.uri	http://hdl.handle.net/2117/131805
dc.language.iso	eng
dc.publisher	Springer
dc.relation	https://link.springer.com/chapter/10.1007%2F978-3-319-60867-9_63
dc.relation	info:eu-repo/grantAgreement/ES/8PN/DPI2014-57220-C2-2-P
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject	Coupler curves
dc.subject	Distance geometry
dc.subject	RCCC linkage
dc.subject	Classificació INSPEC::Optimisation::Mathematical programming::Geometric programming
dc.title	A new insight into the coupler curves of the RCCC four-bar linkage
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	The final publication is available at link.springer.com
dc.description.abstract	Based on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation is not only its simplicity, but the elegant way in which we can obtain the derivative of any variable with respect to any other, and the simple way in which intervals of monotonicity can be detected. All these results are compactly expressed in terms of Gramians and, as a consequence, they have a direct geometric meaning contrarily to what happens with previous approaches based on kinematic loop equations.
dc.description.abstract	Peer Reviewed

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