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An Automatic Method for Sketching of Planar Simple and Multiple Joint Kinematic Chains

[+] Author Affiliations
Huafeng Ding

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

Peng Huang, Zhen Huang

Yanshan University, Qinhuangdao, China

Andrés Kecskeméthy

University of Duisburg-Essen, Duisburg, Germany

Paper No. DETC2015-47216, pp. V05BT08A076; 10 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5713-7
  • Copyright © 2015 by ASME


The sketching of mechanisms (kinematic chains) shows designers a visual understanding of the interrelationship among links and joints in mechanical design, but sketching of mechanisms in manually in conceptual design stage is time-consuming and inefficient. In this paper, a fully-automatic method for sketching of planar simple and multiple joint kinematic chains is proposed. First, the complete sets of the topological structures (topological graphs and contracted graphs) of both simple and multiple joint kinematic chains are introduced. Then an algorithm for the layouts of the contracted graphs with minimal edge crossings is proposed. Third, the expression set of binary sub-paths derived from a topological graph is obtained for the sketching of the simple joint kinematic chain, and based on the sketching of the simple joint kinematic chains the sketching of corresponding multiple joint kinematic chains is obtained. Finally, both simple and multiple joint kinematic chains with numbers of links and numbers of basic loops are provided in batch as examples to show the effectiveness of the method.

Copyright © 2015 by ASME



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