Determination of Kinematic Characteristics of Mechanisms from the Structural Analaysis of Kinematic Chains. Combinatory Topological Analysis of Kinematic Chains and Mechanisms.

The major topics of research have been the following: (a) Mathematical representation of the kinematic structure of mechanisms and kinematic chains, as an abstract, linear graph. (b) Enumeration and classification of plane and spatial mechanisms according to kinematic structure and freedom. (c) Computer-aided kinematic analysis of planar mechanical systems. (d) Investigation of degree of attainable automation of the kinematic and dynamic analysis of one representative class of mechanical systems. The principal problem has been the development of a mathematical analysis of the kinematic structure of mechanisms (and kinematic chains) and its application to the development of methods for the computer-aided kinematic analysis of mechanical systems. (Author)