TY - JOUR
T1 - Contracted graphs of kinematic chains with multiple joints
AU - Yan, H. S.
AU - Hsu, C. H.
PY - 1988
Y1 - 1988
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.
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U2 - 10.1016/0895-7177(88)90158-6
DO - 10.1016/0895-7177(88)90158-6
M3 - Article
AN - SCOPUS:38249029745
SN - 0895-7177
VL - 10
SP - 681
EP - 695
JO - Mathematical and Computer Modelling
JF - Mathematical and Computer Modelling
IS - 9
ER -