File(s) not publicly available
Formulating Assur kinematic chains as projective extensions of Baranov trusses
journal contribution
posted on 2023-06-09, 00:28 authored by Nicolás Rojas, Federico ThomasThe 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 TheoryISSN
0094-114XPublisher
ElsevierVolume
56Page range
16-27Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2016-03-07Usage metrics
Categories
No categories selectedLicence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC