| contributor author | Júlia Borràs | |
| contributor author | Raffaele Di Gregorio | |
| date accessioned | 2017-05-09T00:34:35Z | |
| date available | 2017-05-09T00:34:35Z | |
| date copyright | May, 2009 | |
| date issued | 2009 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-27977#021003_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/141485 | |
| description abstract | 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Polynomial Solution to the Position Analysis of Two Assur Kinematic Chains With Four Loops and the Same Topology | |
| type | Journal Paper | |
| journal volume | 1 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.3046134 | |
| journal fristpage | 21003 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2009:;volume( 001 ):;issue: 002 | |
| contenttype | Fulltext | |
