Abstract
Distance-based formulations have successfully been used to obtain closure polynomials for planar mechanisms without relying, in most cases, on variable eliminations. The methods resulting from previous attempts to generalize these techniques to spatial mechanisms exhibit some limitations such as the impossibility of incorporating orientation constraints. For the first time, this paper presents a complete satisfactory generalization. As an example, it is applied to obtain a closure polynomial for the general triple-arm parallel robot (that is, the 3-RPS 3-DOF robot). This polynomial, not linked to any particular reference frame, is obtained without variable eliminations or tangent-half-angle substitutions.
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Acknowledgements
This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under project DPI2014-57220-C2-2-P.
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Rojas, N., Thomas, F. (2018). Forward Kinematics of the General Triple-Arm Robot Using a Distance-Based Formulation. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_29
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DOI: https://doi.org/10.1007/978-3-319-60867-9_29
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