Journal ArticleDOI
The position analysis of Assur kinematic chain with five links
Reads0
Chats0
TLDR
In this paper, the position analysis for all six types of 5-link chain, classified based on the different combination of revolute and prismatic joints, is presented, and the maximum number of possible solutions of the breaking point/line is evaluated.About:
This article is published in Mechanism and Machine Theory.The article was published on 2005-09-01. It has received 17 citations till now. The article focuses on the topics: Revolute joint & Prismatic joint.read more
Citations
More filters
Dissertation
Distance-based Formulations for the Position Analysis of Kinematic Chains
TL;DR: In this article, the authors address the problem of finding the feasible assembly modes that a kinematic chain can adopt, where an assignment of positions and orientations is made for all links with respect to a given reference frame.
Journal ArticleDOI
Position analysis in polynomial form of class-three Assur groups with two or three prismatic joints
TL;DR: In this article, position analysis in polynomial form of the class-three Assur group is presented, where the objective is to determine all possible configurations of the Assur groups, for a given position of its external joints.
Journal ArticleDOI
Solving the Kinematics of the Planar Mechanism Using Data Structures of Assur Groups
Journal ArticleDOI
The Univariate Closure Conditions of All Fully Parallel Planar Robots Derived From a Single Polynomial
Nicolas Rojas,Federico Thomas +1 more
TL;DR: This paper shows how the univariate polynomials of all fully parallel planar robots can be derived directly from that of the widely known 3-RPR robot by simply formulating these polynmials in terms of distances and oriented areas.
References
More filters
Book
Kinematic geometry of mechanisms
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
Journal ArticleDOI
The direct kinematics of planar parallel manipulators: Special architectures and number of solutions
TL;DR: A formal proof of the aforementioned conjecture is derived using Sturm's theorem and a robust computational scheme is given for the direct kinematics of planar three-degree-of-freedom parallel manipulators.
Journal ArticleDOI
Solutions polynomiales au probleme de la cinematique directe des manipulateurs paralleles plans a trois degres de liberte
TL;DR: In this paper, a solution for the cinematique directe des manipulateurs paralleles plans a trois degres de liberte is presented, in which six solutions reelles are reelled au maximum.
Journal ArticleDOI
Solving the forward kinematics of parallel manipulators with a genetic algorithm
Roger Boudreau,N. Turkkan +1 more
TL;DR: In this paper, a floating-point genetic algorithm is proposed to solve the forward kinematic problem for parallel manipulators, adapted from studies in the biological sciences, and applied to two 3-degree-of-freedom planar parallel manipulator and to a spherical manipulator, which converges to a solution within a broader search domain compared to a Newton-Raphson scheme.
Journal ArticleDOI
Forward displacement analysis of third-class analytic 3-RPR planar parallel manipulators
Xianwen Kong,Clément Gosselin +1 more
TL;DR: In this paper, the forward displacement analysis of planar parallel manipulators with non-similar aligned platforms is reduced to the solution of a cubic equation in x and a quadratic equation, in sequence.