scholarly journals Similar Vertices and Isomorphism Detection for Planar Kinematic Chains Based on Ameliorated Multi-Order Adjacent Vertex Assignment Sequence

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Liang Sun ◽  
Zhizheng Ye ◽  
Fuwei Lu ◽  
Rongjiang Cui ◽  
Chuanyu Wu
Keyword(s):  
Degree Of Freedom ◽  
Adjacent Vertex ◽  
Topological Graph ◽  
Innovative Design ◽  
Kinematic Chains ◽  
Effectiveness And Efficiency ◽  
Definition Of ◽  
Specific Definition

AbstractIsomorphism detection is fundamental to the synthesis and innovative design of kinematic chains (KCs). The detection can be performed accurately by using the similarity of KCs. However, there are very few works on isomorphism detection based on the properties of similar vertices. In this paper, an ameliorated multi-order adjacent vertex assignment sequence (AMAVS) method is proposed to seek out similar vertices and identify the isomorphism of the planar KCs. First, the specific definition of AMAVS is described. Through the calculation of the AMAVS, the adjacent vertex value sequence reflecting the uniqueness of the topology features is established. Based on the value sequence, all possible similar vertices, corresponding relations, and isomorphism discrimination can be realized. By checking the topological graph of KCs with a different number of links, the effectiveness and efficiency of the proposed method are verified. Finally, the method is employed to implement the similar vertices and isomorphism detection of all the 9-link 2-DOF(degree of freedom) planar KCs.

scholarly journals Improved high-order adjacent vertex assignment sequence for similarity vertices and isomorphism identification of planar kinematic chains

2020 ◽  
Author(s):  
Liang Sun ◽  
Zhizheng Ye ◽  
Fuwei Lu ◽  
Rongjiang Cui ◽  
Chuanyu Wu
Keyword(s):  
Structural Features ◽  
High Order ◽  
Adjacent Vertex ◽  
Innovative Design ◽  
Kinematic Chains ◽  
Adjacent Point ◽  
Sequence Method ◽  
Definition Of ◽  
Isomorphism Identification ◽  
Specific Definition

Abstract Isomorphism identification is fundamental to synthesis and innovative design of kinematic chains (KCs). The identification can be performed accurately by using the similarity of KCs. However, there are very few researches on isomorphism identification based on the properties of similarity vertices. In this paper, an improved high-order adjacent vertex assignment (IHAVS) sequence method is proposed to seek out the similarity vertices and identify the isomorphism of the planar KCs. First, the specific definition of IHAVS is described. Through the calculation of the IHAVS, the adjacent point value sequence reflecting the uniqueness of the structural features is established. Based on the value sequence, all possible similarity vertices, corresponding relations and isomorphism discrimination can be realized. By checking the topological diagrams of KCs of different number of links, the correctness of the proposed method are verified. Finally, the method is used to find the similarity vertices of all the 9-link 2-DOF(degree of freedom) planar KCs.

New Machine for Complex Structure Decoration Materials

2012 ◽  
Vol 178-181 ◽  
pp. 262-266
Author(s):  
Jian Guo Luo ◽  
Mao Yan He
Keyword(s):  
Complex Structure ◽  
Three Dimensional ◽  
Influential Factors ◽  
Degree Of Freedom ◽  
Topological Graph ◽  
Working Space ◽  
Hybrid Mechanism ◽  
Definition Of ◽  
Six Degree Of Freedom ◽  
Necessary And Sufficient

A new type of machine for complex structure decoration materials based on hybrid cubic manipulator with six degree of freedom(DOF) suggested in view of traditional serial manipulator and parallel manipulator, three dimensional translation and rotation of output shaft obtained through lineal driving. Define the description of spacial moving capability of common couples and translation base and rotation base of mechanism, based on the fact of mechanism consists of components, a new description method by topological graph theory of components relationship suggested, new description of serial mechanism and parallel mechanism and hybrid mechanism obtained with this method, description elements include component pane and constrained component pane and component relationship line and constrained component relationship line and spacial relative moving capability between adjacent components. DOF(degree of freedom) of hybrid mechanism analysised with example based on the definition of dimensionity of branch spacial moving capability and mechanism spacial moving capability, necessary and sufficient condition of nonsingularity of mechanism presented. Method of analytic geometry used to find the regular cuboid of the reachable working space shape of mechanism, the volume of the reachable working space rest with the limit of translation of couplers, its influential factors obtained, limit length of guideway etc. are the primary influential factors.

A New Algorithm for the Determination of the Workspace of Complex Planar Kinematic Chains

1995 ◽  
Author(s):  
Pascal Lê-Huu ◽  
Clément M. Gosselin
Keyword(s):  
Numerical Solution ◽  
Inverse Kinematics ◽  
Degree Of Freedom ◽  
Topological Graph ◽  
Kinematic Chains ◽  
Cartesian Space ◽  
Hybrid Manipulator ◽  
Three Degree Of Freedom ◽  
Two Degree Of Freedom

Abstract A new algorithm for the determination of the workspace of complex planar kinematic chains is presented in this paper. This algorithm is completely general since it can deal with any kind of topological graph and any set of parameters defined in a convention of notation. It uses the numerical solution of the inverse kinematics and is based on a wavefront expansion in the Cartesian space. Three examples are presented here, and lead to a dexterity mapping for two two-degree-of-freedom multi-loop manipulators and a three-degree-of-freedom hybrid manipulator.

Analysis on Degree of Freedom and Singularity of Mechanism Based on Topological Graph Theory

2011 ◽  
Vol 393-395 ◽  
pp. 20-23
Author(s):  
Jian Guo Luo ◽  
Mao Yan He
Keyword(s):  
Graph Theory ◽  
Degree Of Freedom ◽  
Sufficient Condition ◽  
Necessary And Sufficient Condition ◽  
Topological Graph ◽  
Topological Graph Theory ◽  
Hybrid Mechanism ◽  
Definition Of ◽  
Necessary And Sufficient ◽  
Case Number

Based on the analysis of current developing state of graph theory, define the description of spacial moving capability of common couples and translation base and rotation base of mechanism, based on the new description method in topological graph theory. DOF(degree of freedom) of hybrid mechanism analysised with example based on the definition of dimensionity of branch spacial moving capability and mechanism spacial moving capability, necessary and sufficient condition of nonsingularity of mechanism presented, as well as the necessary and sufficient condition of singularity of mechanism deduced , in-phase and assimilation condition and in-phase and dissimilarity condition and asynchronism condition of limitation of input base of branch adopted, case number of position singularity and pose singularity and position and pose singularity obtained then, still the way of founding the combination and case number of common serial mechanism and parallel mechanism and hybrid mechanism mentioned.

New Type of PPP-S[T]-PPP Hybrid Cubic Manipulator

2011 ◽  
Vol 181-182 ◽  
pp. 516-521
Author(s):  
Jian Guo Luo ◽  
Jian You Han
Keyword(s):  
Three Dimensional ◽  
Influential Factors ◽  
Degree Of Freedom ◽  
Output Shaft ◽  
Topological Graph ◽  
Rotational Angle ◽  
Working Space ◽  
Hybrid Mechanism ◽  
New Type ◽  
Definition Of

A new type of hybrid cubic manipulator with six degree of freedom(DOF) suggested based on traditional serial manipulator and parallel manipulator, three dimensional translation and rotation of output shaft obtained through lineal driving. Define the description of spacial moving capability of common couples and translation base and rotation base of mechanism, based on the fact of mechanism consists of components, a new description method by topological graph theory of components relationship suggested, new description of serial mechanism and parallel mechanism and hybrid mechanism obtained with this method, description elements include component pane and constrained component pane and component relationship line and constrained component relationship line and spacial relative moving capability between adjacent components. DOF(degree of freedom) of hybrid mechanism analysised with example based on the definition of dimensionity of branch spacial moving capability and mechanism spacial moving capability, necessary and sufficient condition of nonsingularity of mechanism presented. Method of analytic geometry used to find the regular cuboid of the reachable working space shape of mechanism, the volume of the reachable working space rest with the limit of translation of couplers, its influential factors obtained, still the rotational angle limits of output shaft at given configuration analysised through the method of drawing, and limit length of guideway etc. are the primary influential factors.

Analysis on Degree of Freedom and Singularity of Mechanism Based on Topological Graph Theory

2012 ◽  
Vol 430-432 ◽  
pp. 1943-1946
Author(s):  
Jian Guo Luo ◽  
Mao Yan He
Keyword(s):  
Graph Theory ◽  
Degree Of Freedom ◽  
Sufficient Condition ◽  
Necessary And Sufficient Condition ◽  
Topological Graph ◽  
Topological Graph Theory ◽  
Hybrid Mechanism ◽  
Definition Of ◽  
Necessary And Sufficient ◽  
Case Number

Based on the analysis of current developing state of graph theory, define the description of spacial moving capability of common couples and translation base and rotation base of mechanism, based on the new description method in topological graph theory. DOF(degree of freedom) of hybrid mechanism analysised with example based on the definition of dimensionity of branch spacial moving capability and mechanism spacial moving capability, necessary and sufficient condition of nonsingularity of mechanism presented, as well as the necessary and sufficient condition of singularity of mechanism deduced , in-phase and assimilation condition and in-phase and dissimilarity condition and asynchronism condition of limitation of input base of branch adopted, case number of position singularity and pose singularity and position and pose singularity obtained then, still the way of founding the combination and case number of common serial mechanism and parallel mechanism and hybrid mechanism mentioned.

Research on Engineering Materials with New Method of Type Configuration of Metamorphic Mechanism

2014 ◽  
Vol 540 ◽  
pp. 143-150
Author(s):  
Jia Li ◽  
Jiang Yi Kong ◽  
Han Yuan Liao ◽  
Yu Hou ◽  
Liang Bo Sun
Keyword(s):  
Numerical Calculation ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
New Method ◽  
Connecting Rod ◽  
Topological Graph ◽  
Kinematic Chains ◽  
Metamorphic Mechanism ◽  
Engineering Materials

The fomula between the numbers of link of kinematic chain,the numbers of prismatic pair,the numbers of connecting rod for each unit,ring numbers of kinematic chain,and degree of freedom of mechanism with 3 degree of freedom has been introduced in this paper by means of method of numerical calculation,the configuration of kinematic chain with F=2 also has been introduced,and an example of systhesis of metamorphic mechanism for this kinematic chain have been listed the kinematic chain and its isomers for these mechanism with 3 degree of freedom have been studied by using the method of topological graph,the kinematic chains and its isomers and have been obtained for 28 types of mechanism which have 3 degree of freedom and its numbers of link is less than 10,this method is usful for type systhesis of metamorphic mechanism. The study will greatly promote the mechanism used in engineering materials.

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.

Consent after the House of Lords: Taking and leading astray the Law of Theft

Legal Studies ◽  
1993 ◽  
Vol 13 (3) ◽  
pp. 308-322
Author(s):  
Mitchell C. Davies
Keyword(s):  
Criminal Law ◽  
House Of Lords ◽  
The Law ◽  
Definition Of ◽  
Specific Definition

The objectives of the Criminal Law Revision Committee when drafting the radical reforms proposed by the 1966 Theft Bill were described by a contemporary commentator2 as being: ‘. . . to do away with the more embarrassing and restrictive technicalities of the existing law . . .’In the same place it was observed that the Committee faced a choice between creating a specific definition of the various theft offences and their elements, or one whose generality would allow it to evolve to meet the challenges presented by ever more complex and sophisticated dishonest dealing.

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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