An additive approach to find distinct mechanisms of a planar kinematic chain

Abstract

In the type synthesis of kinematic chains, identification of distinct mechanisms of a kinematic chain is an important step. The links which are having same functional behavior are grouped as same inversion. In the present paper, an additive approach based on connectivities of the links is proposed. The functional behavior of any link as a part of k-chain can be found by means of topological analysis. In general, adjacency of a link with other links is a primary tool for the topological analysis. In the present paper, the extent of adjacency consideration is the main criteria by which similar functional behavior leading to same inversion is identified. A new parameter ‘Additive Adjacency’ is defined in the algorithm. A new computation table ‘Remote Adjacency Influence Table’ (RAIT) is introduced to control the progress of the adjacency calculations. The proposed method is tested on various linkages (8, 9, 10) with different Degree of Freedom (DoF).