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Formulating Assur kinematic chains as projective extensions of Baranov trusses

journal contribution
posted on 2023-06-09, 00:28 authored by Nicolás Rojas, Federico Thomas
The real roots of the characteristic polynomial of a planar linkage determine its assembly modes. In this work it is shown how the characteristic polynomial of a Baranov truss derived using a distance-base formulation contains all the necessary and sufficient information for solving the position analysis of the Assur kinematic chains resulting from replacing some of its revolute joints by slider joints. This is a relevant result because it avoids the case-by-case treatment that requires new sets of variable eliminations to obtain the characteristic polynomial of each Assur kinematic chain.

History

Publication status

  • Published

Journal

Mechanism and Machine Theory

ISSN

0094-114X

Publisher

Elsevier

Volume

56

Page range

16-27

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2016-03-07

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