A linear relaxation technique for the position analysis of multiloop linkages
This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted formulation yields a system of simple equations (only containing linear, biline...
| Autores: | , , |
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| Formato: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2009 |
| País: | España |
| Recursos: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/30495 |
| Acesso em linha: | http://hdl.handle.net/10261/30495 |
| Access Level: | acceso abierto |
| Palavra-chave: | Closed chain Forward and inverse kinematics Geometric constraint Loop closure Multibody system Multiloop linkage Robots Robotics |
| Resumo: | This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted formulation yields a system of simple equations (only containing linear, bilinear, and quadratic monomials, and trivial trigonometric terms for the helical pair only) whose structure is later exploited by a branch-and-prune method based on linear relaxations. The method is general, as it can be applied to linkages with single or multiple loops with arbitrary topology, involving lower pairs of any kind, and complete, as all possible solutions get accurately bounded, irrespective of whether the linkage is rigid or mobile. |
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