The position analysis of planar linkages has been dominated by resultant elimination and tangent-half-angle substitution techniques applied to sets of kinematic loop equations. This analysis is thus reduced to finding the roots of a polynomial in one variable, the characteristic polynomial of the linkage. In this paper, by using a new distance-based technique, it is shown that this standard approach becomes unnecessarily involved when applied to the position analysis of the three seven-link Assur kinematic chains. Indeed, it is shown that the characteristic polynomials of these linkages can be straightforwardly derived without relying on variable eliminations nor trigonometric substitutions, and using no others tools than elementary algebra. © 2010 Elsevier Ltd. All rights reserved. ; We gratefully acknowledge the financial support of the Autonomous Government of Catalonia through the VALTEC program, cofinanced with FEDER funds, and the Colombian Ministry of Communications and Colfuturo through the ICT National Plan of Colombia. ; Peer Reviewed
Distance-based position analysis of the three seven-link Assur kinematic chains
2011-01-01
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Distance-based position analysis of the three seven-link Assur kinematic chains
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