Contracted graphs of kinematic chains with multiple joints

Hong-Sen Yan, C. H. Hsu

Research output: Contribution to journalArticle

32 Citations (Scopus)

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 languageEnglish
Pages (from-to)681-695
Number of pages15
JournalMathematical and Computer Modelling
Volume10
Issue number9
DOIs
Publication statusPublished - 1988 Jan 1

Fingerprint

Kinematics
Graph in graph theory
Euler's formula
Graph Representation
Synthesis

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Computer Science Applications

Cite this

@article{7f2bf052bfcb4a92a56a57df1cd34f2c,
title = "Contracted graphs of kinematic chains with multiple joints",
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.",
author = "Hong-Sen Yan and Hsu, {C. H.}",
year = "1988",
month = "1",
day = "1",
doi = "10.1016/0895-7177(88)90158-6",
language = "English",
volume = "10",
pages = "681--695",
journal = "Mathematical and Computer Modelling",
issn = "0895-7177",
publisher = "Elsevier Limited",
number = "9",

}

Contracted graphs of kinematic chains with multiple joints. / Yan, Hong-Sen; Hsu, C. H.

In: Mathematical and Computer Modelling, Vol. 10, No. 9, 01.01.1988, p. 681-695.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Contracted graphs of kinematic chains with multiple joints

AU - Yan, Hong-Sen

AU - Hsu, C. H.

PY - 1988/1/1

Y1 - 1988/1/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=38249029745&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=38249029745&partnerID=8YFLogxK

U2 - 10.1016/0895-7177(88)90158-6

DO - 10.1016/0895-7177(88)90158-6

M3 - Article

AN - SCOPUS:38249029745

VL - 10

SP - 681

EP - 695

JO - Mathematical and Computer Modelling

JF - Mathematical and Computer Modelling

SN - 0895-7177

IS - 9

ER -