RESEARCH PAPERS: Mechanisms Papers

Enumeration of Basic Kinematic Chains Using the Theory of Finite Groups

[+] Author and Article Information
E. R. Tuttle

Department of Engineering, University of Denver, Denver, CO 80208

S. W. Peterson

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

J. E. Titus

Productivity Center, Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455

J. Mech., Trans., and Automation 111(4), 498-503 (Dec 01, 1989) (6 pages) doi:10.1115/1.3259028 History: Received October 01, 1987; Online November 19, 2009


A procedure for systematically and completely enumerating all nonfractionated planar kinematic chains having N links and F degrees of freedom has been developed. This procedure employs the theory of finite symmetry groups to eliminate isomorphic chains. The analysis of 8-, 9-, and 10-link chains having 1, 2, and 3 degrees of freedom, respectively, is presented as an example.

Copyright © 1989 by ASME
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