Structural Analysis of Kinematic Chains and Mechanisms Based on Matrix Representation

[+] Author and Article Information
T. S. Mruthyunjaya, M. R. Raghavan

Department of Mechanical Engineering, Indian Institute of Science, Bangalore-560012, India

J. Mech. Des 101(3), 488-494 (Jul 01, 1979) (7 pages) doi:10.1115/1.3454082 History: Received June 16, 1978; Online October 21, 2010


A method based on Bocher’s formulae has been presented for determining the characteristic coefficients (which have recently been suggested [19] as an index of isomorphism) of the matrix associated with the kinematic chain. The method provides an insight into the physical meaning of these coefficients and leads to a possible way of arriving at the coefficients by an inspection of the chain. A modification to the matrix notation is proposed with a view to permit derivation of all possible mechanisms from a kinematic chain and distinguishing the structurally distinct ones. Algebraic tests are presented for determining whether a chain possesses total, partial or fractionated freedom. Finally a generalized matrix notation is proposed to facilitate representation and analysis of multiple-jointed chains.

Copyright © 1979 by ASME
Topics: Chain
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