English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/96800
logo share SHARE logo core CORE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:


Distance-based position analysis of the three seven-link Assur kinematic chains

AuthorsRojas, Nicolás ; Thomas, Federico
Position analysis
Distance-based formulations
Cayley–Menger determinants
Assur kinematic chains
Issue Date2011
CitationMechanism and Machine Theory 46(2): 112-126 (2011)
AbstractThe 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.
Publisher version (URL)http://dx.doi.org/10.1016/j.mechmachtheory.2010.10.004
Identifiersdoi: 10.1016/j.mechmachtheory.2010.10.004
issn: 0094-114X
Appears in Collections:(IRII) Artículos
Files in This Item:
File Description SizeFormat 
seven-link Assur.pdf529,08 kBUnknownView/Open
Show full item record
Review this work

Related articles:

WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.