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Título: | A coordinate-free approach to tracing the coupler curves of pin-jointed linkages |
Autor: | Rojas, Nicolás CSIC; Thomas, Federico CSIC ORCID | Fecha de publicación: | 2011 | Editor: | American Society of Mechanical Engineers | Citación: | International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 6: 417-426 (2011) | Resumen: | In general, high-order coupler curves of plane mechanisms cannot be properly traced by standard predictor-corrector algorithms due to drifting problems and the presence of singularities. Instead of focusing on finding better algorithms for tracing curves, a simple coordinate-free method that first traces these curves in a distance space and then maps them onto the mechanism workspace is proposed. Tracing a coupler curve in the proposed distance space is much simpler because (a) the equation of this curve in this space can be straightforwardly obtained from a sequence of bilaterations; and (b) the curve in this space naturally decomposes into branches in which the signs of the oriented areas of the triangles involved in the aforementioned bilaterations remain constant. A surjective mapping permits to map the thus traced curves onto the workspace of the mechanism. The advantages of this two-step method are exemplified by tracing the coupler curves of a double butterfly linkage, curves that can reach order 48. | Descripción: | Trabajo presentado al 35th Mechanisms and Robotics Conference celebrado en Washington del 28 al 31 de agosto de 2011. | Versión del editor: | http://dx.doi.org/10.1115/DETC2011-48147 | URI: | http://hdl.handle.net/10261/91691 | DOI: | 10.1115/DETC2011-48147 | Identificadores: | doi: 10.1115/DETC2011-48147 isbn: 978-0-7918-5483-9 |
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