Polynomial Solution to the Position Analysis of Two Assur Kinematic Chains With Four Loops and the Same Topology
نویسندگان
چکیده
The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint variables corresponds to considering the actuated joints locked, which makes the manipulator a structure. The solutions of the DPA of a manipulator one to one correspond to the assembly modes of the structure that is generated by locking the actuated-joint variables of that manipulator. Determining the assembly modes of a structure means solving the DPA of a large family of manipulators since the same structure can be generated from different manipulators. This paper provides an algorithm that determines all the assembly modes of two structures with the same topology that are generated from two families of mechanisms: one planar and the other spherical. The topology of these structures is constituted of nine links (one quaternary link, four ternary links, and four binary links) connected through 12 revolute pairs to form four closed loops. DOI: 10.1115/1.3046134
منابع مشابه
Distance-based position analysis of the three seven-link Assur kinematic chains
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 app...
متن کاملFormulating Assur Kinematic Chains as Projective Extensions of Baranov Trusses
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 slide...
متن کاملApplication of Wavelet Neural Network in Forward Kinematics Solution of 6-RSU Co-axial Parallel Mechanism Based on Final Prediction Error
Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...
متن کاملThe Kinematic Analysis Of Four Degrees Of Freedom For A Medical Robot And Control It By Labview And Arduino Mega2560 (Simulation And Implementation)
ABSRACTThis study presents the kinematic analysis of a four-degree freedom medical robotic arm using the Matlab and the robotic-tool, the arm was designed using a solid work program, As well as details of the control of the real design of this arm using Arduino Mega 2560, The specialist enters the position to be reached by the automatic arm (injection position), Or moving the arm to any p...
متن کاملClosed-Form Solution to the Position Analysis of Watt-Baranov Trusses Using the Bilateration Method
The exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived from the independent kinematic loops of the mechanism. The use of kinematic loops to this end has seldom been questioned despite deriving the characteristic polynomial from ...
متن کامل