Technical Briefs

Computational Identification of Link Adjacency and Joint Incidence in Kinematic Chains and Mechanisms

[+] Author and Article Information
Chin-Hsing Kuo1

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2LS, UKchin-hsing.kuo@kcl.ac.uk

Chien-Jong Shih

Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, 151 Ying-Chuan Road, Tamsui, Taipei County 251, Taiwan, R.O.Ccjs@mail.tku.edu.tw


Corresponding author.

J. Mech. Des 130(8), 084501 (Jun 17, 2008) (9 pages) doi:10.1115/1.2936931 History: Received June 20, 2006; Revised March 21, 2008; Published June 17, 2008

The identification of link adjacency and joint incidence of kinematic chains and mechanisms is important and essential prior to the task of conceptual mechanism design. A careful observation method can be done in general; however, a computational approach is particularly needed for the design automation and algorithmic enumeration. This paper proposes a systematic approach for this goal in which a pseudogenetic concept is employed. The graph identification is then generalized from which the identifications of kinematic chains and mechanisms are automatically mapped. The illustrative examples show that the computation is simple and easily programmable. This development is helpful for the automated structural synthesis of mechanisms.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 5

Watt-II mechanism and its graphs

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Figure 6

A ten-link mechanism derived from Fig. 4

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Figure 1

A graph and its line graph

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Figure 2

Identification procedure of link adjacency and joint incidence in a kinematic chain

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Figure 3

Watt’s chain and its graphs

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Figure 4

A ten-link chain and its graphs



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