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Number Enumeration of Planar Pin-Joined Driving Mechanisms

[+] Author Affiliations
Peter Mitrouchev, Frédéric Maffray, Slim Amri, Abdelghafour Nafiss

Grenoble-INP; UJF-Grenoble 1; CNRS, G-SCOP UMR5272, Grenoble, France

Marc Dahan

DR CNRS, LMARC - FEMTO-ST, Besançon, France

Paper No. DETC2011-47056, pp. 275-287; 13 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


This paper deals with the development of a new method for the morphological number enumeration for planar pin-jointed driving mechanisms applied in robotic design. The method is based on linkage graph presentation by using geometrical symmetries of kinematic chains and combinatorial analysis. The restricting criteria being the position of: the frame, the end-effector and the actuators (motors) of the robot, different cases of symmetries for planar pin-jointed driving mechanisms of mobility 1 and 2 are addressed. New expressions for calculating the number of different possibilities to position the frame, the end-effector and the actuators in a mechanism are presented, thus reducing the number of the possible solutions by avoiding those that are isomorphic. A further consequence of the present work is the ability for it to be extended to mechanisms with three degrees of mobility and more.

Copyright © 2011 by ASME
Topics: Mechanisms



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