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Box approximations of planar linkage configuration spaces

AuthorsPorta, Josep M. ; Ros, Lluís ; Creemers, Tom ; Thomas, Federico
Issue DateApr-2007
PublisherAmerican Society of Mechanical Engineers
CitationJournal of Mechanical Design 129(4): 397-405 (2007)
AbstractThis paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and to mobile ones (i.e., those that exhibit a continuum of possible configurations). The method is based on the fact that this problem can be reduced to finding the roots of a polynomial system of linear, quadratic, and hyperbolic equations, which is here tackled with a new strategy exploiting its structure. The method is conceptually simple and easy to implement, yet it provides solutions of the desired accuracy in short computation times. Experiments are included that show its performance on the double butterfly linkage and on larger linkages formed by the concatenation of basic patterns.
Description9 pages, 9 figures, 2 tables.-- PACS nrs.: 89.20.Kk; 02.10.De.
Publisher version (URL)http://dx.doi.org/10.1115/1.2437808
Appears in Collections:(IRII) Artículos
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