Extraneous roots and kinematic analysis of spatial mechanisms and robots


Soylu R., Akbulut M.

MECHANISM AND MACHINE THEORY, vol.32, no.7, pp.775-788, 1997 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 32 Issue: 7
  • Publication Date: 1997
  • Doi Number: 10.1016/s0094-114x(97)00010-4
  • Title of Journal : MECHANISM AND MACHINE THEORY
  • Page Numbers: pp.775-788

Abstract

A systematic algorithm, for the complete position analysis of ''any'' single loop spatial mechanism, is introduced. The method yields four non-linear equations, with the least possible total degree. These equations are transformed into algebraic ones, which may be solved, analytically, based upon the concept of resultants. The solutions are free from extraneous roots, since such roots are identified and extracted by the proposed techniques. An algorithm, for the efficient position analysis of mechanisms with parallel or perpendicular joint axes and/or zero link lengths and offsets, is also given. (C) 1997 Elsevier Science Ltd.