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

Author

Chu Jinkui ; Zou Yanhuo ; He Pengfei

Author_Institution

Key Lab. for Precision & Non-Traditional Machining, Dalian Univ. of Technol., Dalian, China

fYear

2012

Firstpage

322

Lastpage

327

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.

Keywords

chains; kinematics; structural engineering; double color topological graph model representation; multiple joint factor; planar multiple joint kinematic chains; single closed chain; single kinematic chain adding theory; single open chain; structural synthesis; Computers; Educational institutions; Joining processes; Joints; Kinematics; System-on-chip; Transmission line matrix methods; Double-Color-Topological-Graph; Structural synthesis; The Single-Kinematic -Chain adding theory; The planar multiple joint kinematic chain;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice (M2VIP), 2012 19th International Conference

Conference_Location

Auckland

Print_ISBN

978-1-4673-1643-9

Type

conf

Filename

6484608