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Título

Kinematic synthesis using tree topologies

Autor Simo-Serra, Edgar; Perez-Gracia, Alba
Palabras clave Tree articulated systems
Kinematic synthesis
Graph theory
Fecha de publicación 2014
EditorElsevier
Citación Mechanism and Machine Theory 72: 94-113 (2014)
ResumenThis paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands. © 2013 Elsevier Ltd.
Versión del editorhttp://dx.doi.org/10.1016/j.mechmachtheory.2013.10.004
URI http://hdl.handle.net/10261/96993
DOI10.1016/j.mechmachtheory.2013.10.004
Identificadoresissn: 0094-114X
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