![]() Un modo de ensamblaje es una transformación Modos de ensamblaje factibles que una cadena cinemática puede adoptar. Este problema, de naturaleza geométrica, consiste en encontrar los Interconectados por pares cinemáticos (articulaciones). Techniques, contains all the necessary and sufficient information for solving the positionĮsta tesis aborda el problema de análisis de posición de cadenas cinemáticas, mecanismos con cuerpos rígidos (enlaces) The impact of the above result is actually greater because it is shown that theĬharacteristic polynomial of a Baranov truss, derived using the proposed distance-based An outcome in clear contrast with theĬomplex variable eliminations require when independent loop equations are used to tackle Using no other tools than elementary algebra. Techniques, the characteristic polynomials of most of the cataloged Baranov trusses canīe obtained without relying on variable eliminations or trigonometric substitutions and Position analysis of kinematic chains and related problems. Obtained have shown that the novel developed techniques are promising tools for the Trusses, Assur kinematic chains, and pin-jointed Gr¨ubler kinematic chains. In favor of developing the basics and theory of the proposed approach, this thesisįocuses on the study of the most fundamental planar kinematic chains, namely, Baranov Position problem as a system of distance-based constraints that are then solved usingĪnalytical and numerical procedures adapted to their particularities. This thesis departs from this standardĪpproach by, instead of directly computing Cartesian locations, expressing the original Involve translations and rotations simultaneously. Two major disadvantages: arbitrary reference frames has to be included, and all formulas Moreover, stating the position analysis of kinematic chainsĭirectly in terms of poses, with or without using independent loop equations, introduces Questioned despite the resulting system of kinematic equations becomes quite involvedĮven for simple linkages. Of kinematic chains, almost a standard in kinematics of mechanisms, has seldom been In any case, the use of independent loop equations to solve the position analysis In the numericalĪpproaches, the system of kinematic equations is solved using, for instance, polynomialĬontinuation or interval-based procedures. To a polynomial, known as the characteristic polynomial of the linkage, using differentĮlimination methods -e.g., Gr¨obner bases or resultant techniques. In the analytical approaches, the system of kinematic equations is reduced All these techniques and results together areĬontributions to theoretical kinematics of mechanisms, robot kinematics, and distanceĮquations that defines the location of each link based, mainly, on independent loopĮquations. Of pin-jointed Gr¨ubler kinematic chains. ![]() InĪddition to these results, this thesis also presents an efficient procedure, based on distanceĪnd oriented area constraints, and geometrical arguments, to trace coupler curves Planar robots can be derived directly from that of the widely known 3-RPR robot. Thus, it is concluded that the polynomials of all fully-parallel Of any topology and translate the original geometric problem into a system of kinematic analysis of all the Assur kinematic chains resulting from replacing some of its revolute ![]() ![]() The analytical and numerical methods deal, in general, with kinematic chains The graphical approaches are mostly geometrical and designed to solve particular Methods reported in the literature for solving the position analysis of kinematic chainsĬan be classified as graphical, analytical, or numerical. Respect to a given reference frame, an assembly mode is called a configuration. When an assignment of positions and orientations is made for all links with Nature, consists in finding the feasible assembly modes that a kinematic chain can adopt.Īn assembly mode is a possible relative transformation between the links of a kinematicĬhain. Interconnected by kinematic pairs (joints). This thesis addresses the kinematic analysis of mechanisms, in particular, the positionĪnalysis of kinematic chains, or linkages, that is, mechanisms with rigid bodies (links) ![]()
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