Contracted graphs of kinematic chains with multiple joints

H. S. Yan, C. H. Hsu

Research output: Contribution to journalArticlepeer-review

43 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

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Computer Science Applications

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