2018•International journal of advance research and innovative ideas in educationRequires access
ANALYSIS OF STRUCTURAL CHARACTERISTICS OF PLANAR KINEMATIC CHAIN TO APPLY GRADIENT CONCEPT
Chandra Shekhar Sahu, Arvind Kumar Shukla, Ashok Kumar Sharma
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Abstract
Every machine is a mechanism or combination of mechanisms. Kinematic characteristics of kinematic chains depends on link assortment, type of loop, type of joints and their topology. Different mechanisms give different motion characteristics because of difference in connectivity. An attempt has been made to reveal the characteristics of kinematic chains on the basis of topology. A unique concept is proposed to grade the kinematic chains on the basis of kinematic characteristics. The proposed method is able to reveal kinematic characteristics such as angular velocity, and mechanical advantage based on their topology and compare kinematic chains. Kinematic chains are directly used for writing the distance matrix. The concept has great potential and can be used to study symmetry and parallelism which are useful in structural synthesis and platform-type robots respectively. An analysis of structural characteristics of planar kinematic chain is done here so that the concept of gradient method can be applied.