2012•Unpublished venueRequires access

A method for structural synthesis of planar simple and multiple joint kinematic chains

Jinkui Chu, Yanhuo Zou, Pengfei He

Abstract

A new method has been proposed for structural synthesis of the planar multiple joint kinematic chains in this paper. The procedure for structural synthesis of the kinematic chains is obtained by applying the Single-Kinematic-Chain(SKC) adding theory with the help of Double-Color-Topological-Graph(DCTG) model representation. The mean feature of this method is that a multiple joint kinematic chain with L independent loops can be formed by subsequently adding Single-Open-Chain (SOC) on a Single-Closed-Chain (SCC) with three adding styles. By this method, the structures of multiple joint kinematic chains with specified degree-of-freedom(DOF), the number of links and multiple joint factor can be synthesized by computer. Finally, the structural synthesis of 8-links, 1-DOF and 9-links, 2-DOF multiple joint kinematic chains have been studied to show the effectiveness of this method.

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Available abstract

Key concepts: Kinematics, Kinematic chain, Planar, Joint (building), Kinematic diagram, Topology (electrical circuits), Chain (unit), Simple (philosophy)