Rojas, Nicolas and Thomas, Federico (2013) The closure condition of the double banana and its application to robot position analysis. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), 6-10 May 2013, Karlsruhe, Germany.

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Abstract

A double banana is defined as the bar-and-joint assembly of two bipyramids joined by their apexes. Clearly, the bar lengths of this kind of assembly are not independent as we cannot assign arbitrary values to them. This dependency can be algebraically expressed as a closure condition fully expressed in terms of bar lengths. This paper is devoted to its derivation and to show how its use simplifies the position analysis of many well-known serial and parallel robots thus providing a unifying treatment to apparently disparate problems. This approach permits deriving the univariate polynomials, needed for the closed-form solution of these position analysis problems, without relying on trigonometric substitutions or difficult variable eliminations.

Item Type:	Conference or Workshop Item (Paper)
Schools and Departments:	School of Engineering and Informatics > Engineering and Design
Depositing User:	Nicolas Rojas
Date Deposited:	07 Mar 2016 10:30
Last Modified:	07 Mar 2016 10:30
URI:	http://sro.sussex.ac.uk/id/eprint/59879

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