Computer-aided structure synthesis of spatial kinematic chains

1990 ◽  
Vol 25 (6) ◽  
pp. 645-653 ◽  
Author(s):  
Li Shujun
Keyword(s):  
Kinematic Chains ◽  
Structure Synthesis ◽  
Computer Aided

Loop-Structure Decomposition of Kinematic Chains, Application to Rigid Sub-Chain Detection

2007 ◽  
Author(s):  
Huafeng Ding ◽  
Zhen Huang
Keyword(s):  
New Method ◽  
Loop Structure ◽  
Kinematic Chains ◽  
Structure Synthesis ◽  
Computer Aided ◽  
Structure Decomposition ◽  
Isomorphism Identification

Rigid sub-chain detection and isomorphism identification are two of the most difficult problems in the computer aided structure synthesis of kinematic chains. Based on the array representation of the loops of kinematic chains, this paper first introduces two operations of loops. Then a new theory of structure decomposition of kinematic chains is proposed on the basis of the concept of the independent loop set. After that a new method grounded on the theory is proposed for rigid sub-chain detection. Finally, the optimized algorithm for structure decomposition is presented and the corresponding program for rigid sub-chain detection is developed as well.

Using the Single Reciprocal Screw to Confirm Mobility of a Six-Revolute Linkage

2010 ◽  
Vol 224 (10) ◽  
pp. 2247-2255 ◽  
Author(s):  
J E Baker
Keyword(s):  
Kinematic Chains ◽  
Computer Aided

Overconstrained kinematic chains have been discovered mostly by analytical or geometrical means or through a synthesizing procedure. In a few instances they have succumbed to computer-aided methods, and those solutions can, in effect, be reduced to a single one. This loop, of six revolutes, is described by parametric conditions that provide little information about its physical make-up. The existence of a lone screw reciprocal to the system defined by the loop's joint screws is the basis here for demonstrating analytically the linkage's mobility and determining its mode of assembly. In addition, it is shown that seven new linkages can be developed from this solution as isomeric variants.

scholarly journals Forward kinematic analysis of a 3-RRRS mechanism with subordinate driving variables using a computer-aided geometric method

2019 ◽  
Vol 16 (4) ◽  
pp. 172988141987066
Author(s):  
Liangwen Wang ◽  
Tuanhui Wang ◽  
Fannian Meng ◽  
Wenliao Du ◽  
Caidong Wang ◽  
...  
Keyword(s):  
Analytical Method ◽  
Kinematic Analysis ◽  
Visual Basic ◽  
Geometric Method ◽  
Kinematics Analysis ◽  
Kinematic Chains ◽  
Computer Aided ◽  
Parameterized Model ◽  
Moving Platform ◽  
Analysis System

The 3-RRRS mechanism (RRRS refers to kinematic pairs of a branched chain consisting of three R pairs (Rotational pairs) and one S pair (Spherical pair), successively) is used between a moving platform and a static platform, through which six-dimensional motion of the moving platform relative to the static platform can be achieved. Selecting six independently drivable joints from nine active joints makes it problematic to deal analytically with the kinematics of the 3-RRRS mechanism. In this article, a novel computer-aided geometric method for kinematic analysis is developed. This method can automatically detect the independently drivable joints for arbitrary kinematic chains. This method can be easily implemented compared to the analytical method of the forward kinematics. Based on the constraint relationship of the 3-RRRS mechanism, a general 3-RRRS mechanism digital model is built in the SolidWorks Application Program Interface embedded Visual Basic environment, in which the platform sizes and active driving angles are driven by the parameterized model, to make the moving platform move to the corresponding pose. After the pose of the moving platform is confirmed, the coordinate system is built in a preliminary sketch. The parameters are measured by the SolidWorks measuring functions, and the pose of the moving platform is obtained by combining homogeneous matrices. Using the computer-aided geometric method, the detailed kinematics formula is not required. The accuracy and efficiency of the computer-aided geometric method were assessed with some examples of kinematic analysis for the 3-RRRS mechanism. The results showed that the proposed method obtained competitive precision and calculation time to the analytical method and is beneficial as a convenient solving process. By using Visual Basic programming, a reachable poses analysis of the mechanism can be merged into the kinematics analysis system of the computer-aided geometric method. The computer-aided geometric method could be widely applied to kinematics analysis of mechanisms.

scholarly journals Computer-aided structure synthesis of metal extraction processes.

1985 ◽  
Vol 18 (4) ◽  
pp. 303-307 ◽  
Author(s):  
EIICHI KUNUGITA ◽  
IZUMI TSUBOI ◽  
YOSHINORI KUTSUWA ◽  
JOHN INGHAM
Keyword(s):  
Metal Extraction ◽  
Structure Synthesis ◽  
Computer Aided ◽  
Extraction Processes

The Establishment of Novel Structure Representation Models for Several Kinds of Mechanisms

2009 ◽  
Author(s):  
Huafeng Ding ◽  
Jing Zhao ◽  
Zhen Huang
Keyword(s):  
Topological Graph ◽  
Planar Mechanisms ◽  
Topological Graphs ◽  
Structure Representation ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
Mathematical Representations ◽  
Novel Structure ◽  
Structure Synthesis ◽  
Topological Models

This paper attempts to establish the unified topological models and corresponding mathematical representations for planar simple joint, multiple joint and geared (cam) kinematic chains. First, the conventional topological representation models of kinematic chains are introduced. Then new topological models of multiple joint and geared (cam) kinematic chains, which are derived from the topological graph of simple joint kinematic chains, are presented. The characteristics of the new topological graphs and their associations with the topological graph of simple joint kinematic chains are also addressed. The most important merit of the new topological graphs is that it makes it much easier to do unified structure synthesis and further establish conceptual design platform for various planar mechanisms of these kinds.

scholarly journals An Algorithm for Identifying the Isomorphism of Planar Multiple Joint and Gear Train Kinematic Chains

2016 ◽  
Vol 2016 ◽  
pp. 1-15 ◽  
Author(s):  
Yanhuo Zou ◽  
Peng He
Keyword(s):  
Equivalent Circuit Model ◽  
Gear Train ◽  
Analysis Method ◽  
Kinematic Chains ◽  
Mathematical Algorithm ◽  
Structure Synthesis ◽  
Mathematical Problems ◽  
Node Voltage ◽  
Isomorphism Identification ◽  
Weighted Adjacency Matrix

Isomorphism identification of kinematic chains is one of the most important and challenging mathematical problems in the field of mechanism structure synthesis. In this paper, a new algorithm to identify the isomorphism of planar multiple joint and gear train kinematic chains has been presented. Firstly, the topological model (TM) and the corresponding weighted adjacency matrix (WAM) are introduced to describe the two types of kinematic chains, respectively. Then, the equivalent circuit model (ECM) of TM is established and solved by using circuit analysis method. The solved node voltage sequence (NVS) is used to determine the correspondence of vertices in two isomorphism identification kinematic chains, so an algorithm to identify two specific types of isomorphic kinematic chains has been obtained. Lastly, some typical examples are carried out to prove that it is an accurate, efficient, and easy mathematical algorithm to be realized by computer.

Computer-Aided Edge Loop Theory of Kinematic Structure of Mechanisms and Its Applications

2009 ◽  
Author(s):  
Huafeng Ding ◽  
Jing Zhao ◽  
Qinchuan Li ◽  
Zhen Huang
Keyword(s):  
Efficient Method ◽  
Kinematic Structure ◽  
Computation Complexity ◽  
Topological Graphs ◽  
Kinematic Chains ◽  
Loop Theory ◽  
Computer Aided ◽  
Structure Decomposition ◽  
Edge Based ◽  
Selection Of

Based on the edge-based array representation of loops in the topological graphs of kinematic chains, this paper first proposes three arithmetic operations of loops. Then the concept of the independent loop set as well as it determination rules is introduced, and a new structure decomposition algorithm of kinematic chains is presented. Based on the algorithm, an automatic and efficient method for rigid subchain detection and driving pair selection of kinematic chains is proposed. Finally, an index is proposed to assess computation complexity of kinematic analysis with respect to different driving pair selections.

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