A note on modular approaches to planar linkage kinematic analysis

On closed-form solutions to the position analysis of Baranov trusses

“…4(e)]. The assembly modes of this new truss can be computed using the expression obtained for s 7,9 , a scalar equation in s 1,6 . Actually, when △P 1 P 3 P 2 , △P 1 P 2 P 7 , △P 4 P 5 P 6 , and △P 5 P 9 P 8 are oriented, the resulting truss corresponds to the 7/B 3 Baranov truss.…”

“…A non-overconstrained linkage with zero-mobility from which an Assur group can be obtained by removing any of its links is defined as an Assur kinematic chain, basic truss [1,2], or Baranov truss when no slider joints are considered [3]. Hence, a Baranov truss, named after the Russian kinematician G.G.…”

Formulating Assur kinematic chains as projective extensions of Baranov trusses

“…A non-overconstrained linkage with zero-mobility from which an Assur group can be obtained by removing any of its links is defined as an Assur kinematic chain, basic truss [1,2], or Baranov truss if no slider joints are considered [3]. Hence, a Baranov truss, named after the Russian kinematician G.G.…”

Closed-Form Solution to the Position Analysis of Watt–Baranov Trusses Using the Bilateration Method

“…Now, substituting (4)- (8) in (9)- (13) and then replacing the resulting expression for p 1,5 in that for p 1,6 , and the resulting expression for p 1,6 after this substitution in that for p 1,8 , and so on till an expression is obtained for p 1,v−1 , we get…”

“…A non-overconstrained linkage with zero-mobility from which an Assur group can be obtained by removing any of its links is defined as an Assur kinematic chain, basic truss [1,2], or Baranov 1 truss when no slider joints are considered [3]. Hence, a Baranov truss, named after the Russian kinematician G.G.…”