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Atlas Database of 2-DOF Kinematic Chains and Its Application to the Creative Design of Mechanisms

[+] Author Affiliations
Huafeng Ding, Zhen Huang

Yanshan University, Qinhuangdao, China

Andrés Kecskeméthy

University of Duisburg-Essen, Duisburg, Germany

Paper No. DETC2011-47264, pp. 297-308; 12 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


Creation of novel kinematic structures of mechanisms has been a challenging issue which is usually conducted on experience and intuition. This paper, however, proposes a systematic method for the creative design of mechanism-based products and equipments on the basis of corresponding atlas database, and the creative design of an 11-link 2-DOF rode tractor is provided as an example. First, the transformation of the kinematic structure of mechanisms into graph representation is addressed. Then, the complete atlas database of 11-link 2-DOF kinematic chains is established by obtaining all the non-fractionated topological graphs through their contracted graphs and all the fractionated topological graphs through the combination of 1-DOF kinematic chains. Finally, based on the established atlas database, the creation design for the novel mechanisms of 11-link 2-DOF rode tractors is implemented, and all the nine novel feasible mechanisms (including the widely used one reported in literature) which satisfy the proposed performance indices are obtained.

Copyright © 2011 by ASME



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