On Identification and Canonical Numbering of Pin-Jointed Kinematic Chains

1994 ◽  
Vol 116 (1) ◽  
pp. 182-188 ◽  
Author(s):  
Jae Kyun Shin ◽  
S. Krishnamurty
Keyword(s):  
Graph Theory ◽  
Kinematic Chain ◽  
Simple Graphs ◽  
Robust Algorithm ◽  
Unique Representation ◽  
Kinematic Chains ◽  
Standard Code ◽  
Salient Features

This paper deals with the development of a standard code for the unique representation of pin-jointed kinematic chains based on graph theory. Salient features of this method include the development of an efficient and robust algorithm for the identification of isomorphism in kinematic chains; the formulation of a unified procedure for the analysis of symmetry in kinematic chains; and the utilization of symmetry in the coding process resulting in the unique well-arranged numbering of the links. This method is not restricted to simple jointed kinematic chains only, and it can be applied to any kinematic chain which can be represented as simple graphs including open jointed and multiple jointed chains. In addition, the method is decodable as the original chain can be reconstructed unambiguously from the code values associated with the chains.

On Identification and Canonical Numbering of Pin-Jointed Kinematic Chains

1992 ◽  
Author(s):  
Jae Kyun Shin ◽  
Sundar Krishnamurty
Keyword(s):  
Graph Theory ◽  
Kinematic Chain ◽  
Symmetry Analysis ◽  
Simple Graphs ◽  
Robust Algorithm ◽  
Unique Representation ◽  
Kinematic Chains ◽  
Standard Code ◽  
Salient Features

Abstract This paper deals with the development of a standard code for the unique representation of pin-jointed kinematic chains. Salient features of this method, which is based on graph theory, include the development of an efficient and robust algorithm for the identification of isomorphism in kinematic chains; the formulation of a unified procedure for symmetry analysis in kinematic chains; and the utilization of symmetry in the coding process resulting in an unique well arranged numbering of links. This method is not restricted to simple jointed kinematic chains only, and it can be applied to any kinematic chain which can be represented as simple graphs including open jointed and multiple jointed chains. In addition, the method is decodable as the original chain can be reconstructed unambiguously from the code values associated with those chains.

Logical Foundations of Kinematic Chains: Graphs, Line Graphs, and Hypergraphs

1990 ◽  
Vol 112 (1) ◽  
pp. 79-83 ◽  
Author(s):  
Frank Harary ◽  
Hong-Sen Yan
Keyword(s):  
Graph Theory ◽  
Line Graph ◽  
Kinematic Chain ◽  
Line Graphs ◽  
Kinematic Chains ◽  
Logical Foundations ◽  
Unique Graph ◽  
Theory Of Graphs ◽  
Admissible Graph

In terms of concepts from the theory of graphs and hypergraphs we formulate a precise structural characterization of a kinematic chain. To do this, we require the operations of line graph, intersection graph, and hypergraph duality. Using these we develop simple algorithms for constructing the unique graph G (KC) of a kinematic chain KC and (given an admissible graph G) for forming the unique kinematic chain whose graph is G. This one-to-one correspondence between kinematic chains and a class of graphs enables the mathematical and logical power, precision, concepts, and theorems of graph theory to be applied to gain new insights into the structure of kinematic chains.

A More Direct Method for Structural Synthesis of Simple-Jointed Planar Kinematic Chains

1994 ◽  
Author(s):  
Varada Raju Dharanipragada ◽  
Nagaraja Kumar Yenugadhati ◽  
A. C. Rao
Keyword(s):  
Graph Theory ◽  
Computer Program ◽  
Reliable Method ◽  
Direct Method ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Structural Synthesis ◽  
Indirect Methods ◽  
Kinematic Chains ◽  
A Chain

Abstract Structural synthesis of kinematic chains leans heavily on indirect methods, most of them based on Graph Theory, mainly because reliable isomorphism tests are not available. Recently however, the first and third authors have established the Secondary Hamming String of a kinematic chain as an excellent indicator of its isomorphism. In the present paper this Hamming String method was applied with slight modifications for synthesizing on a PC-386, distinct kinematic chains with given number of links and family description. The computer program, written in Pascal, generated both the six-bar and all 16 eight-bar chains as well as one sample family (2008) of ten-bar chains, verifying previously established results. Hence this paper presents a direct, quick and reliable method to synthesize planar simple-jointed chains, open or closed, with single- or multi-degree of freedom, containing any number of links. A spin-off of this paper is a simple, concise and unambiguous notation for representing a chain.

Development of a Standard Code for Colored Graphs and Its Application to Kinematic Chains

1994 ◽  
Vol 116 (1) ◽  
pp. 189-196 ◽  
Author(s):  
Jae Kyun Shin ◽  
S. Krishnamurty
Keyword(s):  
Efficient Solution ◽  
Kinematic Chain ◽  
Solution Procedure ◽  
Kinematic Chains ◽  
Colored Graphs ◽  
Standard Code ◽  
Computer Based ◽  
Function Generators ◽  
And Function ◽  
Universal Standard

The development of an efficient solution procedure for the detection of isomorphism and canonical numbering of vertices of colored graphs is introduced. This computer-based algorithm for colored graphs is formed by extending the standard code approach developed earlier for the canonical numbering of simple noncolored graphs, which fully utilizes the capabilities of symmetry analysis of such noncolored graphs. Its application to various kinematic chains and mechanisms is investigated with the aid of examples. The method never failed to produce unique codes, and is also found to be robust and efficient. Using this method, every kinematic chain and mechanism, as well as path generators and function generators, will have their own unique codes and a corresponding canonical numbering of their respective links. Thus, based on its efficiency and applicability, this method can be used as a universal standard code for identifying isomorphisms, as well as for enumerating nonisomorphic kinematic chains and mechanisms.

An Algorithm for Automatic Sketching of Planar Kinematic Chains

1985 ◽  
Vol 107 (1) ◽  
pp. 106-111 ◽  
Author(s):  
D. G. Olson ◽  
T. R. Thompson ◽  
D. R. Riley ◽  
A. G. Erdman
Keyword(s):  
Graph Theory ◽  
Line Graph ◽  
Kinematic Chain ◽  
Graph Representation ◽  
Synthesis Process ◽  
Line Graphs ◽  
Type Synthesis ◽  
Kinematic Chains ◽  
Synthesis Of Mechanisms ◽  
Computer Aided

One of the problems encountered in attempting to computerize type synthesis of mechanisms is that of automatically generating a computer graphics display of candidate kinematic chains or mechanisms. This paper presents the development of a computer algorithm for automatic sketching of kinematic chains as part of the computer-aided type synthesis process. Utilizing concepts from graph theory, it can be shown that a sketch of a kinematic chain can be obtained from its graph representation by simply transforming the graph into its line graph, and then sketching the line graph. The fundamentals of graph theory as they relate to the study of mechanisms are reviewed. Some new observations are made relating to graphs and their corresponding line graphs, and a novel procedure for transforming the graph into its line graph is presented. This is the basis of a sketching algorithm which is illustrated by computer-generated examples.

Research on Kinematic Chain Isomorphism Identification Method Based on the Standardization Adjacent Matrix

2010 ◽  
Vol 43 ◽  
pp. 514-518 ◽  
Author(s):  
Mao Zhong Ge ◽  
Jian Yun Xiang ◽  
Yong Kang Zhang
Keyword(s):  
Graph Theory ◽  
Kinematic Chain ◽  
New Method ◽  
Kinematic Chains ◽  
Identification Method ◽  
Isomorphism Identification

In order to solve a baffling problem of kinematic chain isomorphism identification, proceeded from the isomorphism’s principles of graph theory, a new method for detecting isomorphism among planar kinematic chains using the standardization adjacent matrix is presented in this paper. The general course of adjacent matrix standardization processing and numbering principle of node are introduced, the implementation of this new method is illustrated with an example, it is showed that this new method can be accurately and effectively performed.

Development of a Standard Code for Colored Graphs and its Application to Kinematic Chains

1992 ◽  
Author(s):  
Jae Kyun Shin ◽  
Sundar Krishnamurty
Keyword(s):  
Efficient Solution ◽  
Kinematic Chain ◽  
Solution Procedure ◽  
Kinematic Chains ◽  
Colored Graphs ◽  
Standard Code ◽  
Computer Based ◽  
Function Generators ◽  
And Function ◽  
Universal Standard

Abstract The development of an efficient solution procedure for the detection of isomorphism and canonical numbering of vertices of colored graphs is introduced. This computer based algorithm for colored graphs is formed by extending the standard code approach earlier developed for the canonical numbering of simple noncolored graphs, which fully utilizes the capabilities of symmetry analysis of such noncolored graphs. Its application to various kinematic chains and mechanisms is investigated with the aid of examples. The method never failed to produce unique codes, and is also found to be robust and efficient. Using this method, every kinematic chain and mechanism, as well as path generators and function generators, will have their own unique codes and a corresponding canonical numbering of their respective links. Thus, based on its efficiency and applicability, this method can be used as a universal standard code for identifying isomorphisms, as well as for enumerating nonisomorphic kinematic chains and mechanisms.

scholarly journals A New Algorithm for Unique Representation and Isomorphism Detection of Planar Kinematic Chains with Simple and Multiple Joints

Processes ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 601
Author(s):  
Mahmoud Helal ◽  
Jong Wan Hu ◽  
Hasan Eleashy
Keyword(s):  
Degree Of Freedom ◽  
Synthesis Process ◽  
Structural Synthesis ◽  
Joint Configuration ◽  
Unique Representation ◽  
Kinematic Chains

In this work, a new algorithm is proposed for a unique representation for simple and multiple joint planar kinematic chains (KCs) having any degree of freedom (DOF). This unique representation of KCs enhances the isomorphism detection during the structural synthesis process of KCs. First, a new concept of joint degree is generated for all joints of a given KC based on joint configuration. Then, a unified loop array (ULA) is obtained for each independent loop. Finally, a unified chain matrix (UCM) is established as a unique representation for a KC. Three examples are presented to illustrate the proposed algorithm procedures and to test its validity. The algorithm is applied to get a UCM for planar KCs having 7–10 links. As a result, a complete atlas database is introduced for 7–10-link non-isomorphic KCs with simple or/and multiple joints and their corresponding unified chain matrix.

On the Maximum Value of the Maximum Degree of Kinematic Chains

1987 ◽  
Vol 109 (4) ◽  
pp. 487-490 ◽  
Author(s):  
Hong-Sen Yan ◽  
Frank Harary
Keyword(s):  
Graph Theory ◽  
Maximum Degree ◽  
Design Methodology ◽  
Creative Design ◽  
Systematic Design ◽  
Kinematic Chains ◽  
Maximum Value ◽  
Mathematical Expressions

One of the major steps in the development of a systematic design methodology for the creative design of vehicle mechanisms is to obtain all possible link assortments, and then to generate the catalogs of kinematic chains. If the generalized mathematical expressions for the maximum value M of the maximum number of joints incident to a link of kinematic chains with N links and J joints can be derived, the process of solving link assortments can be more systematic. Using elementary concepts of graph theory, we derived explicit relationships for M for two regions of the J-N plane.

Structure Based Grading of Kinematic Chains

2014 ◽  
Vol 575 ◽  
pp. 501-506 ◽  
Author(s):  
Shubhashis Sanyal ◽  
G.S. Bedi
Keyword(s):  
Structural Properties ◽  
Structural Property ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Kinematic Chains ◽  
Structural Differences ◽  
The Individual ◽  
Independent Loops

Kinematic chains differ due to the structural differences between them. The location of links, joints and loops differ in each kinematic chain to make it unique. Two similar kinematic chains will produce similar motion properties and hence are avoided. The performance of these kinematic chains also depends on the individual topology, i.e. the placement of its entities. In the present work an attempt has been made to compare a family of kinematic chains based on its structural properties. The method is based on identifying the chains structural property by using its JOINT LOOP connectivity table. Nomenclature J - Number of joints, F - Degree of freedom of the chain, N - Number of links, L - Number of basic loops (independent loops plus one peripheral loop).

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