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Distance-based position analysis of the three seven-link Assur kinematic chains

journal contribution
posted on 2023-06-09, 00:29 authored by Nicolás Rojas, Federico Thomas
The position analysis of planar linkages has been dominated by resultant elimination and tangent-half-angle substitution techniques applied to sets of kinematic loop equations. This analysis is thus reduced to finding the roots of a polynomial in one variable, the characteristic polynomial of the linkage. In this paper, by using a new distance-based technique, it is shown that this standard approach becomes unnecessarily involved when applied to the position analysis of the three seven-link Assur kinematic chains. Indeed, it is shown that the characteristic polynomials of these linkages can be straightforwardly derived without relying on variable eliminations nor trigonometric substitutions, and using no others tools than elementary algebra.

History

Publication status

  • Published

Journal

Mechanism and Machine Theory

ISSN

0094-114X

Publisher

Elsevier

Issue

2

Volume

46

Page range

112-126

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2016-03-07

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