Generation of Non-Fractionated Planar Closed Kinematic Chains with All the Possible Set Multiple Joint Assortment up to MAX Total Multiple Joint Factor

Abstract

This paper presents an efficient algorithm for the structural synthesis of kinematic chains with multiple joints. By this algorithm, the structures of multiple joint kinematic chains up to 12-link have been synthesised. Based on the proposed algorithm, all the possible kinds of multiple joints up to MAX total multiple factor can be obtained synthesised. As a new result, multiple joint assortment arrays for closed multi-loop kinematic chains up to 5-independent loop are obtained. The paper describes general relationship between number of multiple joint assortment of non-fractionated F-DOF □ - link kinematic chains of K-independent loops in a chain for the first time. These results would be useful for conceptual creative design of multiple joints mechanisms in machinery.