Abstract
Based on graph representation of planar linkages, a new algorithm was developed to identify the different dyads of a mechanism. A dyad or class II group, is composed of two binary links connected by either a revolute (1) or a slider (0) pair with provision for attachment to other links by lower pair connectors located at the end of each link. There are five types of dyads: the D111, D101, D011, D001, and D010. The dyad analysis of a mechanism is predicated on the ability to construct the system from one or more of the five binary structure groups or class II groups. If the mechanism is complicated and several dyads are involved, the task of identifying these dyads by inspection could be difficult and time consuming for the user. This algorithm allows a complete automation of this task. This algorithm is based on the Dijkstra’s algorithm, for finding the shortest path in a graph, and it is used to develop a computer program, called KAMEL: Kinematic Analysis of MEchanical Linkages, and implemented on an IBM-PC PS/2 model 80. When compared to algorithmic methods, like the Newton-Raphson, the dyad method proved to be a very efficient one and requires as little as one tenth of the time needed by the method using Newton-Raphson algorithm. Moreover, the dyad method yields the exact solution of the position analysis and no initial estimates are needed to start the analysis. This method is also insensitive to the value of the step-size crank rotation, therefore, allowing a very accurate and fast solution of the mechanism at any position of the input link.