A numerical procedure to solve non-linear kinematic problems in spatial mechanisms

  1. Petuya, V. 1
  2. Gutiérrez, J.M. 2
  3. Alonso, A. 1
  4. Altuzarra, O. 1
  5. Hernández, A. 1
  1. 1 Universidad del País Vasco/Euskal Herriko Unibertsitatea
    info

    Universidad del País Vasco/Euskal Herriko Unibertsitatea

    Lejona, España

    ROR https://ror.org/000xsnr85

  2. 2 Universidad de La Rioja
    info

    Universidad de La Rioja

    Logroño, España

    ROR https://ror.org/0553yr311

Revista:
International Journal for Numerical Methods in Engineering

ISSN: 0029-5981

Ano de publicación: 2008

Volume: 73

Número: 6

Páxinas: 825-843

Tipo: Artigo

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DOI: 10.1002/NME.2110 SCOPUS: 2-s2.0-39749190544 WoS: WOS:000253694100004 GOOGLE SCHOLAR

Outras publicacións en: International Journal for Numerical Methods in Engineering

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Resumo

This paper presents a numerical method to solve the forward position problem in spatial mechanisms. The method may be incorporated in a software for the kinematic analysis of mechanisms, where the procedure is systematic and can be easily implemented, achieving a high degree of automation in simulation. The procedure presents high computational efficiency, enabling its incorporation in the control loop to solve the forward position problem in the case of a velocity control scheme. Also, in this paper preliminary results on the convergence of the proposed procedure are shown, and efficiency results of the method applied to representative spatial mechanisms are presented. Copyright © 2007 John Wiley & Sons, Ltd.