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Research Papers

Automatic Structural Synthesis of Planar Multiple Joint Kinematic Chains

[+] Author and Article Information
Huafeng Ding

Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Yanshan University,
Qinhuangdao 066004, China;
Hebei Provincial Key Laboratory of Parallel
Robot and Mechatronic System,
Yanshan University,
Qinhuangdao 066004, China
e-mail: dhf@ysu.edu.cn

Weijuan Yang

e-mail: yang_wei_juan@163.com

Peng Huang

e-mail: h1985p@163.com
Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Yanshan University,
Qinhuangdao 066004, China

Andrés Kecskeméthy

Chair for Mechanics and Robotics,
University of Duisburg-Essen,
Duisburg 47057, Germany
e-mail: andres.kecskemethy@uni-due.de

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received January 4, 2013; final manuscript received May 14, 2013; published online July 2, 2013. Assoc. Editor: Oscar Altuzarra.

J. Mech. Des 135(9), 091007 (Jul 02, 2013) (12 pages) Paper No: MD-13-1005; doi: 10.1115/1.4024733 History: Received January 04, 2013; Revised May 14, 2013

It is of great importance in the conceptual creative design of mechanical systems to synthesize as many feasible kinematic structures of mechanisms as possible. However, the methods for the structural synthesis of multiple joint kinematic chains are seldom addressed in literature even though they are widely used in various mechanical products. This paper proposes an automatic method to synthesize planar multiple joint kinematic chains. First, the bicolor topological graph and the bicolor contracted graph are introduced to represent the topological structures of multiple joint kinematic chains. Then, the characteristic number string of bicolor topological graphs is proposed and used to efficiently detect isomorphism in the synthesis progress. Finally, a systematic method for the synthesis of kinematic chains with one multiple joint is proposed, and the whole families of multiple joint kinematic chains with up to 16 links and all possible degrees of freedom are synthesized for the first time.

Copyright © 2013 by ASME
Topics: Kinematics , Chain
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References

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Figures

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Fig. 1

(a) An 8-link multiple joint kinematic chain, (b) its bicolor topological graph, and (c) its bicolor contracted graph

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Fig. 7

Four bicolor topological graphs

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Fig. 8

(a) The characteristic perimeter graph of Figs. 7(a)–7(c) and (b) the characteristic perimeter graph of Fig. 7(d)

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Fig. 10

The topological graph of a 9-link, 2-DOF simple joint kinematic chain

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Fig. 4

The shared canonical perimeter graph for the two graphs in Fig. 3

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Fig. 3

The two perimeter graphs for Fig. 2

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Fig. 2

A bicolor topological graph

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Fig. 5

Two bicolor topological graphs

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Fig. 6

Their shared characteristic perimeter graph

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Fig. 9

(a) The bicolor topological graph of a multiple joint kinematic chain and (b) the topological graph of its corresponding simple joint kinematic chain

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Fig. 11

Four bicolor topological graphs

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Fig. 12

(a) The characteristic perimeter graph of Figs. 11(a) and 11(d), (b) the characteristic perimeter graph of Figs. 11(b) and 11(c)

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Fig. 13

The flow chart for the synthesis of kinematic chains with one multiple joint

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Fig. 15

Six multiple joint kinematic chains synthesized from link assortment [6,2,1]

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Fig. 14

Fifteen multiple joint kinematic chains synthesized from link assortment [5,4,0]

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Fig. 16

One multiple joint kinematic chain synthesized from link assortment [7,0,2]

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Fig. 17

Excerpt of the fifty-three multiple joint kinematic chains synthesized from link assortment [6,4,0]

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Fig. 18

Twenty-four multiple joint kinematic chains synthesized from link assortment [7,2,1]

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Fig. 19

Two multiple joint kinematic chains synthesized from link assortment [8,0,2]

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Fig. 20

Excerpt of the 98 multiple joint kinematic chains synthesized from link assortment [7,2,2,0]

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