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Kinematic synthesis using tree topologies

AuthorsSimo-Serra, Edgar ; Perez-Gracia, Alba
KeywordsTree articulated systems
Kinematic synthesis
Graph theory
Issue Date2014
CitationMechanism and Machine Theory 72: 94-113 (2014)
AbstractThis 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.
Publisher version (URL)http://dx.doi.org/10.1016/j.mechmachtheory.2013.10.004
Identifiersissn: 0094-114X
Appears in Collections:(IRII) Artículos
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