A New Representation and Identification Approach of the Hybrid-Driven Kinematic Chain

Abstract

Computer aided configuration synthesis of kinematic chains has the most important significance in mechanism and robot creative design. The paper studies the generation and identification of hybrid-driven chain. The type of the hybrid-driven chain is defined by studying the kinematic chain configuration rules and characteristics. A kind of identification method of the hybrid-driven chain is provided by determining whether hybrid-driven input configuration on the link is connected to the frame and there is the separation DOF. This paper presents a set of coding rules of kinematic pairs in one link and matrix representation of multi-pair links, this coding rules is mainly based on the basic principle than shaft must meet pin in rotating pair of kinematic chain, and resulting in mathematical basis of the establishment of plus or minus characteristics of kinematic pair.. On the basis of this coding rules, The kinematic pair balance principle for planar closed kinematic chain is put forward. The balance principle can effectively prevent loop intersection case in the configuration synthesis. We can express all the information out of the kinematic chain in a matrix by the balance principle, so matrix operation rules of closed-loop kinematic chains are established on the basis of the balance principle. Based on link configuration scheme, the combination of the kinematic chain and link configuration process are demonstrated by the mathematical coding method. Two case studies verify the effectiveness and correction of the approach. The approach in this paper provides basis for the configuration synthesis to computerize, in agreement with the current configuration synthesis of kinematic chains to computerize and intelligence. The identification method also lays the foundation of configuration design of hybrid-driven mechanism.