On the Number Synthesis of Generalized Kinematic Chains

摘要

This work provides four checking algorithms and three enumeration algorithms based on graph theory and kinematic matrices for the number synthesis and the construction of the necessary atlases of generalized kinematic chains kinematic chains and rigid chains for the conceptual design of mechanisms Furthermore a computer program is developed to synthesize and sketch the various atlases of generalized kinematic chains kinematic chains and rigid chains with simple joints based on the proposed algorithms Firstly the fundamental definitions and terminology regarding kinematic chains of mechanisms and graph theory are introduced The literature survey on the number synthesis of various kinematic chains with simple joints is reviewed and studied Then the basic theories and concepts such as link assortments contracted link assortments and the synthesis of multiple link adjacency matrices and link adjacency matrices are presented and illustrated with examples The algorithm for checking cut-links is provided for the elimination of chains with cut-links The algorithm for checking Kuratowski graphs is proposed to delete non-planar graphs And a sketching algorithm is developed to sketch kinematic graphs or chains based on the basic contracted graphs According to these algorithms an enumeration algorithm is proposed for the construction of generalized kinematic chains Furthermore two algorithms for checking three-bar basic rigid chains and degenerate kinematic chains are put forward to discard the degenerate kinematic chains Then two enumeration algorithms are proposed for the synthesis of kinematic chains and rigid chains Finally a computer program based on the proposed algorithms is developed to synthesize and sketch various non-isomorphic generalized kinematic chains kinematic chains and rigid chains with simple joints The proposed algorithms and computer programs not only can precisely obtain various atlases of generalized kinematic chains kinematic chains and rigid chains but also can simplify the methodology for the conceptual design of mechanisms

獎項日期	2014 7月 25
原文	English
監督員	Hong-Sen Yan (Supervisor)