Abstract
This paper presents an approach for the structural synthesis of kinematic chains with multiple joints based on the concept of contracted graphs. A graph representation of multiple joints is introduced and the modified Euler formula is derived. Then, contracted graphs of kinematic chains with m multiple joints and Lind independent loops are synthesized from the catalogs of contracted graphs of kinematic chains with simple joints and Lind + m independent loops. Finally, basic kinematic chains with multiple joints are obtained from their corresponding contracted graphs. As a result, the number of kinematic chains with one and two multiple joints up to ten links are listed.
Original language | English |
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Pages (from-to) | 681-695 |
Number of pages | 15 |
Journal | Mathematical and Computer Modelling |
Volume | 10 |
Issue number | 9 |
DOIs | |
Publication status | Published - 1988 |
All Science Journal Classification (ASJC) codes
- Modelling and Simulation
- Computer Science Applications