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Research Papers

Complete Atlas Database of 2-DOF Kinematic Chains and Creative Design of Mechanisms

[+] Author and Article Information
Huafeng Ding1

 Robotics Research Center, Yanshan University, Qinhuangdao 066004, Chinadhf@ysu.edu.cn

Wenao Cao

 Robotics Research Center, Yanshan University, Qinhuangdao 066004, Chinacwao1986@163.com

Andrés Kecskeméthy

 Chair for Mechanics and Robotics, University of Duisburg-Essen, 47057 Duisburg, Germanyandres.kecskemethy@uni-due.de

Zhen Huang

 Robotics Research Center, Yanshan University, Qinhuangdao 066004, Chinahuangz@ysu.edu.cn

1

Corresponding author.

J. Mech. Des 134(3), 031006 (Feb 29, 2012) (10 pages) doi:10.1115/1.4005866 History: Received July 04, 2011; Revised January 10, 2012; Published February 28, 2012; Online February 29, 2012

The creation of novel kinematic structures of mechanisms still represents a major challenge in the quest for developing new, innovative devices. In this setting, computer models that can automatically generate and visualize all possible independent structures in an intuitive manner prove to be valuable as a support in the creative process of the designer. This paper proposes an automatic approach for establishing the complete atlas database of 2-DOF kinematic chains and a systematic approach for the creative design of mechanisms based on such an atlas. First, the transformation of the kinematic structure into a graph-based representation is addressed. Then, an approach for the generation of all nonfractionated topological graphs of 2-DOF (degrees of freedom) kinematic chains using contracted graphs as well as a method for synthesizing all the fractionated topological graphs through the combination of corresponding 1-DOF kinematic chains are addressed. Based on these methods, the complete atlas database of 2-DOF kinematic chains up to 15 links is established in this paper for the first time. Using this complete database, a systematic approach for the creative design of mechanisms can be derived, as illustrated for the example of an 11-link 2-DOF rode tractor.

FIGURES IN THIS ARTICLE
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Copyright © 2012 by American Society of Mechanical Engineers
Topics: Chain , Design , Databases
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Figures

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Figure 1

(a) A rode tractor, (b) kinematic sketch of mechanism, (c) kinematic chain, (d) topological graph, and (e) contracted graph

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Figure 2

A nonfractionated kinematic chain and its topological graph

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Figure 3

A contracted graph of an 11-link 2-DOF kinematic chain

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Figure 4

Excerpt of 36 topological graphs corresponding to Fig. 3

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Figure 5

Two 6-link 1-DOF kinematic chains

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Figure 6

Six fractionated topological graphs by combining Fig. 5 with itself

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Figure 7

Six fractionated topological graphs by combining Figs. 5 with 5

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Figure 8

Three fractionated topological graphs by combining Fig. 5 with itself

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Figure 9

Excerpt of the 71 fractionated topological graphs

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Figure 10

The kinematic chains for the 15 topological graphs

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Figure 11

Other eight feasible mechanisms of 11-link 2-DOF rode tractors

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