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Títol:
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A coordinate-free approach to tracing the coupler curves of pin-jointed linkages
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Autor/a:
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Rojas Libreros, Nicolás Enrique; Thomas, Federico
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Altres autors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
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Abstract:
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Honorable mention, ASME Mechanisms and Robotics Committee Best Paper Award |
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Abstract:
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In general, high-order coupler curves of plane mechanisms cannot be properly traced by standard predictor-corrector algorithms
due to drifting problems and the presence of singularities. Instead of focusing on finding better algorithms for tracing curves, a simple coordinate-free method that first traces these curves in a distance space and then maps them onto the mechanism
workspace is proposed. Tracing a coupler curve in the proposed distance space is much simpler because (a) the equation of this curve in this space can be straightforwardly obtained from a sequence of bilaterations; and (b) the curve in this space naturally decomposes into branches in which the signs of the oriented areas of the triangles involved in the aforementioned bilaterations
remain constant. A surjective mapping permits to map the thus traced curves onto the workspace of the mechanism. The advantages of this two-step method are exemplified by tracing the coupler curves of a double butterfly linkage, curves that can
reach order 48. |
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Abstract:
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Award-winning |
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Matèries:
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Kinematics
-Robot kinematics
-Linkages
-Coupler curves
-Double butterfly linkage
-Cinemàtica |
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Drets:
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Tipus de document:
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Article - Versió publicada
Objecte de conferència |
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Publicat per:
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ASME PRESS
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Compartir:
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