2013•International Journal of Biomechatronics and Biomedical RoboticsRequires access

The structural synthesis of planar 10-link, 3-DOF simple and multiple joint kinematic chains

Jinkui Chu, Yanhuo Zou, Pengfei He

Abstract

A method has been proposed for structural synthesis of the planar 10-link, 3-DOF simple and 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-colour-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 all the 10-link, 3-DOF simple and multiple joint kinematic chains have been synthesised by computer.

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Key concepts: Kinematics, Planar, Link (geometry), Joint (building), Simple (philosophy), Kinematic chain, Computer science, Topology (electrical circuits)