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

Rojas, Nicolás; Thomas, Federico

doi:10.1115/1.4004031

Cited by 13 publications

(11 citation statements)

References 9 publications

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“…Actually, when the coupling degree is 1, eliminations are no longer required. Moreover, there are some trusses that form regular patterns whose coupling degree is independent from the number of its loops [11]. Although the idea is simple, its implementation using displacement transformations is not.…”

Section: Introductionmentioning

confidence: 99%

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

Rojas

Thomas

2012

Mechanism and Machine Theory

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Section: Introductionmentioning

confidence: 99%

“…The same truss was analyzed by Wohlhart using Sylvester elimination [10]. Recently, Rojas and Thomas solved the five-loop and six-loop versions of the 9/B 10 Baranov truss [11].…”

Section: Introductionmentioning

confidence: 99%

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

Rojas

Thomas

2012

Mechanism and Machine Theory

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“…3 is simple, but the method is also successful on complex problems involving general 6R robots and Stewart platforms [21], or in mechanisms with more than 12 chains [20]. To have an idea, elimination or resultant methods are finding their limit in mechanisms of much less complexity [23].…”

Section: Branch-and-prune Methodsmentioning

confidence: 99%

The CUIK Suite: Analyzing the Motion Closed-Chain Multibody Systems

Porta

Ros

Bohigas

et al. 2014

IEEE Robot. Automat. Mag.

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Many situations in Robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or reconfigurable mechanisms, but they appear in other domains too, as mechanical models of molecular compounds or nanostructures. Closed kinematic chains arise frequently in such systems, either due to their morphology, or to geometric or contact constraints to fulfill during operation, giving rise to configuration spaces of an intricate structure. Despite appearing very often in practice, there is a lack of general software tools to analyze and represent such configuration spaces. Existing packages are either oriented to open chain systems, or to specific robot types, which hinders the analysis and development of innovative manipulators. This paper describes the CUIK suite, a software toolbox for the kinematic analysis of general multibody systems. The implemented tools can isolate the valid configurations, determine the motion range of the whole multibody system or of some of its parts, detect singular configurations leading to control or dexterity issues, or find collision-and singularity-free paths between configurations. The toolbox has applications in robot design and programming, and it is the result of several years of research and development within the Kinematics and Robot Design group at IRI, Barcelona. It is available under GPLv3 license from

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“…3. To compare, resultant methods in the plane are finding their limit in mechanisms of much smaller size [18].…”

Section: Branch-and-prune Methodsmentioning

confidence: 99%

An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms

Porta

Ros

Bohigas

et al. 2013

Computational Kinematics

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Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), there is a lack of general tools to effectively analyze the complex configuration spaces of such systems. This paper describes the CUIK suite, an open-source toolbox for motion analysis of general closed-chain mechanisms. The package can determine the motion range of the whole mechanism or of some of its parts, detect singular configurations leading to control or dexterity issues, or find collision-and singularity-free paths between given configurations. The toolbox is the result of several years of research and development within the Kinematics and Robot Design group at IRI, Barcelona, and is available under GPLv3 license from http://www.iri.upc.edu/cuik.

show abstract

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

Cited by 13 publications

References 9 publications

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

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

The CUIK Suite: Analyzing the Motion Closed-Chain Multibody Systems

An Open-Source Toolbox for Motion Analysis of Closed-Chain Mechanisms

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