TY - GEN
T1 - A null-space analysis method for solving bilinear equations in kinematic synthesis of planar and spherical dyads
AU - Ge, Q. J.
AU - Ge, Xin
AU - Purwar, Anurag
AU - Li, Xiangyun
PY - 2015
Y1 - 2015
N2 - Many problems in kinematic synthesis of mechanisms and robots lead naturally to systems of bilinear equations in design parameters. Such systems are typically solved using well-known methods for solutions of systems of polynomial equations, e.g., Dialytic Elimination, Grobner bases, and Polynomial Continuation. This paper presents a new nullspace analysis method for solving a system of bilinear equations in the context of kinematic synthesis of planar and spherical four-bar linkages. The resulting algorithm is simple, efficient and is applicable to the problem of synthesizing both planar and spherical mechanisms and robot manipulators with revolute and prismatic joints. Numerical examples are given to illustrate the effectiveness of the algorithm.
AB - Many problems in kinematic synthesis of mechanisms and robots lead naturally to systems of bilinear equations in design parameters. Such systems are typically solved using well-known methods for solutions of systems of polynomial equations, e.g., Dialytic Elimination, Grobner bases, and Polynomial Continuation. This paper presents a new nullspace analysis method for solving a system of bilinear equations in the context of kinematic synthesis of planar and spherical four-bar linkages. The resulting algorithm is simple, efficient and is applicable to the problem of synthesizing both planar and spherical mechanisms and robot manipulators with revolute and prismatic joints. Numerical examples are given to illustrate the effectiveness of the algorithm.
UR - https://www.scopus.com/pages/publications/85007568525
U2 - 10.6567/IFToMM.14TH.WC.OS2.026
DO - 10.6567/IFToMM.14TH.WC.OS2.026
M3 - Conference contribution
AN - SCOPUS:85007568525
T3 - 2015 IFToMM World Congress Proceedings, IFToMM 2015
BT - 2015 IFToMM World Congress Proceedings, IFToMM 2015
PB - National Taiwan University
T2 - 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015
Y2 - 25 October 2015 through 30 October 2015
ER -