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TECHNICAL PAPERS

Loop Based Detection of Isomorphism Among Chains, Inversions and Type of Freedom in Multi Degree of Freedom Chain

[+] Author and Article Information
A. C. Rao, V. V. N. R. Prasad Raju Pathapati

  K. L. College of Engineering, Vaddeswaram—522 502, Guntur District, Andhra Pradesh, India

J. Mech. Des 122(1), 31-42 (Aug 01, 1999) (12 pages) doi:10.1115/1.533543 History: Received June 01, 1997; Revised August 01, 1999
Copyright © 2000 by ASME
Topics: Chain , String
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References

Tischler,  C. R., Samuel,  A. E., and Hunt,  K. H., 1995, “Kinematic Chains for Robotic Hands-I,” Mech. Mach. Theor., 30, No. 8, pp. 1193–1215.
Mruthyunjaya,  T. S., and Balasubramanian,  H. R., 1987, “In Quest of Reliable and Efficient Computational Test for Detection of Isomorphism in Kinematic Chains,” Mech. Mach. Theor., 22, pp. 131–139.
Ambeker,  A. G., and Agarwal,  V. P., 1987, “Canonical Numbering of Kinematic Chains, Mechanisms, Path Generators and Function Generators Using min Codes,” Mech. Mach. Theor., 22, pp. 453–461.
Ambeker, A. G., and Agarwal, V. P., 1986, ASME DET Conference 86-DET-169, Colombus, Ohio.
Tang, C. S., and Liu, T., 1988, The Degree Code—A New Mechanism Identifier. ASME Design Technology Conference, pp. 147–151.
Shin, J. K., and Krishna Murthy, S., 1992, “On Identification and Conical Numbering of Pin—Jointed Kinematic Chains,” Flexible Mechanisms, Dynamics and Analysis, ASME, DE-Vol. 47, pp. 211–218.
Rao,  A. C., and Varada Raju,  D., 1991, “Application of the Hamming Number Technique to Detect Isomorphism Among Kinetic Chains and Inversions,” Mech. Mach. Theor., 26, No. 1, pp. 55–75.
Hain, K., 1967, Applied Kinematics, McGraw Hill, New York.
Monolescu, N. I., 1964, “A Unitary Method for Construction of Plane Kinematic Chains and Plane Mechanisms with Different Degrees of Mobility,” (in French). Revue Roumaine des sciences Techniques, Serie de Mechanique Applique, 9:1263–1313.
Rao,  A. C., and Rao,  C. N., 1993, “Loop Based Pseudo Hamming Values—1,” Mech. Mach. Theor., 28, No. 1, pp. 113–127.
Rao,  A. C., and Rao,  C. N., 1993, “Loop Based Pseudo Hamming Values—II,” Mech. Mach. Theor., 28, No. 1, pp. 129–143.
Mruthyunjaya,  T. S., and Raghavan,  M. R., 1979, ASME J. Mech. Design, , 101, 488.
Mruthyunjaya,  T. S., 1984, “A Computerized Methodology Structural Synthesis of Kinematic Chains: Part-3, Application to the New Case of 10 Link, Three-Freedom Chains,” Mech. Mach. Theor., 19, pp. 507–530.
Uicker,  J. J., and Raicu,  A., 1975, “A Method for the Indentification and Recognition of Equivalence of Kinematic Chains,” Mech. Mach. Theor., 22, No. 2, pp. 125–130.
Agarwal,  V. P., and Rao,  J. S., 1987, “Fractionated Freedom Kinematic Chains and Mechanisms,” Mech. Mach. Theor., 22, No. 2, pp. 125–130.
Agarwal,  V. P., and Rao,  J. S., 1989, “Identification and Isomorphism of Kinematic Chains and Mechanisms,” Mech. Mach. Theor., 24, No. 4, pp. 309–321.
Jin-Kui,  Chu, and wei-Qing,  Cao, 1994, “Identification of Isomorphism Among Kinetic Chains and Inversions Using Links Adjacent—Chain Table,” Mech. Mach. Theor., 29, No. 1, pp. 53–58.

Figures

Grahic Jump Location
Nine-link two d.o.f. chain
Grahic Jump Location
Nine-link two d.o.f. chain
Grahic Jump Location
Ten-link single d.o.f. chain
Grahic Jump Location
Nine link (Fig. 1, redrawn)
Grahic Jump Location
Cospectral ten-link one d.o.f. chains
Grahic Jump Location
Cospectral ten-link one d.o.f. chains
Grahic Jump Location
Cospectral twelve-link one d.o.f. chains
Grahic Jump Location
Cospectral twelve-link one d.o.f. chains
Grahic Jump Location
Nine-link two d.o.f. chain with total freedom
Grahic Jump Location
Nine-link two d.o.f. chain with partial freedom
Grahic Jump Location
Six-link Stephenson chain
Grahic Jump Location
Nine-Link, 2 d.o.f. chain with fractionated freedom
Grahic Jump Location
Nine-link chain with quintenary link

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