Freedom Analysis of Planar Kinematic Chains Using the Concept of Distance

[+] Author and Article Information
J. N. Yadav, C. R. Pratap

Department of Mechanical Engineering, Bihar Institute of Technology, Sindri, District-Dhanbad, Bihar, INDIA, Pin-828 123

V. P. Agrawal

Department of Mechanical Engineering, Indian Institute of Technology, Delhi, Hauz Khas, New Delhi, INDIA, Pin-110 016

J. Mech. Des 118(3), 367-371 (Sep 01, 1996) (5 pages) doi:10.1115/1.2826894 History: Received August 01, 1993; Revised December 01, 1995; Online December 11, 2007


A computer-aided method, based on the concept of distance, has been developed for identifying planar kinematic chains with fractionated freedom. Algorithms have also been developed for detecting the presence of any k-bar independent loop, and any f-degree-of-freedom sub-chain in a multi-degree-of-freedom planar kinematic chain, leading to the characterization of partial freedom of two- and three-degree-of-freedom kinematic chains.

Copyright © 1996 by The American Society of Mechanical Engineers
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