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Generation of Planar Kinematic Chains With One Multiple Joint

[+] Author Affiliations
Huafeng Ding

Yanshan University, Qinhuangdao, ChinaUniversity of Duisburg-Essen, Duisburg, Germany

Weijuan Yang, Peng Huang, Li Ma

Yanshan University, Qinhuangdao, China

Andrés Kecskeméthy

University of Duisburg-Essen, Duisburg, Germany

Paper No. DETC2013-12915, pp. V06AT07A053; 9 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6A: 37th Mechanisms and Robotics Conference
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5593-5
  • Copyright © 2013 by ASME


It is very important to synthesize as many feasible kinematic structures of mechanisms as possible in the conceptual design of mechanisms. Besides simple joint mechanisms, multiple joint mechanisms are also widely used in various mechanical systems. This paper proposes an automatic method for the synthesis of planar multiple joint kinematic chains which are seldom addressed in literature. The bicolor topological graph and the bicolor contracted graph are adopted to represent the topological structures of multiple joint kinematic chains. The characteristic number string of bicolor topological graphs is proposed and used to detect efficiently isomorphism in the synthesis progress. A systematic method for the synthesis of kinematic chains with one multiple joint is proposed, and the whole families of multiple joint kinematic chains with up to 16 links and all possible degrees of freedom are obtained for the first time.

Copyright © 2013 by ASME
Topics: Kinematics , Chain



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