Kinematic structure of mechanisms revisited

The term kinematic structure encompasses all those characteristics of mechanisms which are determined solely by the pattern of interconnection among the constituent links of the mechanism and hence are independent of metric properties of the mechanisms. Study of kinematic structure has attracted the attention of researchers for well over a century and continues to do so. Paper presents a broad review of the extensive literature available on the subject with a view to trace its history highlighting major trends and discussing significant contributions. Some problem areas needing further attention of researchers are also presented.