Robustness to Algorithmic Singularities and Sensitivity in Computational Kinematics

Autores UPV
Año
Revista PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF ME

Abstract

A robust approach to computational kinematics intended to cope with algorithmic singularities is introduced in this article. The approach is based on the reduction of the original system of equations to a subsystem of bivariate equations, as opposed to the multivariate polynomial reduction leading to the characteristic univariate polynomial. The effectiveness of the approach is illustrated for the exact function-generation synthesis of planar, spherical, and spatial four-bar linkages. Some numerical examples are provided for the case of the spherical four-bar function generator with six precision points to show the benefits of the proposed method with respect to methods reported in the literature.