An algorithm for the construction of generalized kinematic chains

Hong Sen Yan, Yu Ting Chiu

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


One of the major steps in the creative, conceptual, or structural synthesis of mechanical devices is to generate the necessary atlas of kinematic graphs or chains. The atlas of generalized kinematic chains includes the atlas of kinematic chains for mechanisms and the atlas of rigid chains for structures (clamping devices). This study provides an enumeration algorithm for constructing various atlases of generalized kinematic chains based on link assortments, Robinson's method, generating function of planar blocks, Euler's formula, and graph theory. Examples are provided. And, the numbers of generalized kinematic chains with up to twelve links are listed.

Original languageEnglish
Pages (from-to)75-98
Number of pages24
JournalMechanism and Machine Theory
Publication statusPublished - 2013

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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