Trabajo presentado en el IFToMM World Congress on Mechanism and Machine Science, celebrado en Cracovia (Polonia), del 15 al 18 de julio de 2019 ; Different branch-and-prune schemes can be found in the literature for numerically solving the position analysis of spherical mechanisms. For the prune operation, they all rely on the propagation of motion intervals. They differ in the way the problem is algebraically formulated. This paper exploits the fact that spherical kinematic loop equations can be formulated as sets of 3 multi-affine polynomials. Multi-affinity has an important impact on how the propagation of motion intervals can be performed because a multi-affine polynomial is uniquely determined by its values at the vertices of a closed hyperbox defined in its domain. ; This research has been partially funded under the project DPI2017-88282-P (AEI/FEDER, UE)
A fast branch-and-prune algorithm for the position analysis of spherical mechanisms
2019-01-01
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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