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Vaca, R., Aranda, J., (2014). Triangular-fan-based algorithm for computing the closure conditions of planar linkages Advanced Numerical Methods IV 11th World Congress on Computational Mechanics (WCCM XI) 5th European Conference on Computational Mechanics (ECCM V) 6th European Conference on Computational Fluid Dynamics (ECFD VI) , CIMNE (Barcelona, Spain) , 1-2

The position analysis of a planar mechanism is based on obtaining the roots of its characteristic polynomial. In general, this polynomial is the result of a system of kinematic equations which they are derived from closure condition of the mechanism, widely known as independent kinematic loop equations or loop closure equations . This way of solving the position analysis of kinematic chains introduces complex variable eliminations, and in general trigonometric substitutions. Recently, the use of methods based on bilateration to solve the position analysis, has been shown to avoid these variable eliminations and trigonometric substitutions in planar mechanism. In this work it is shown how this method based on bilateration can be use to automatically generate closure conditions of a planar mechanism.

Keywords: Position analysis, Bilateration, Rigidity, Isomorphism, Kinematic