Abstract
A comparative analysis of kinematic chains and their mechanisms at the conceptual stage of design is essential for the designers. There are large number of distinct chains available in each category, i.e., with specified number of links and degree of freedom. Chains with distinct structures can be expected to posses different characteristics which are not quite obvious. The designer must have some idea about the expected behaviour of the chain at least in comparative sense, so that he can pick up the best chain in order to obtain best performance. To accomplish this, the designer should be able to read the characteristics of the chain based on their topology. Using this belief, in the present work an attempt is made and a method is proposed to compare the chains from the effective utilization of link design parameters, quality of motion and function generation point of view. It provides a simple quantitative estimate to compare all the eligible chains. The concepts developed are applied to planar in- parallel robots, which are gaining in importance.
Highlights
Kinematic chain is a combination of links connected by different kinematic pairs and can be divided into two categories i.e. serial and parallel
Chain link value (CLV): For a planar kinematic chain it is defined as the sum of all the link values of the chain
The method consists of the following hierarchy of the three criterions: (i) Compare the CLV of the chains under consideration; chains with lower CLV is better or rated higher. (ii)It is clear that chains with the same number of links, DOF and with same link assortment have identical CLV in that case chain with lower Chain joint value (CJV) is better or rated higher. (iii) For the chains with equal number and type of links and joints, both CLV and CJV are identical in that case chain flow path value (CFV) becomes the criterion for rating
Summary
Kinematic chain is a combination of links connected by different kinematic pairs and can be divided into two categories i.e. serial and parallel. It should be possible to compare different chains with same number of links and joints for their expected behavior on the basis of their structure, without having to perform the actual static and dynamic analysis. Structure of a chain depends upon the link assortment, i.e., type of link, their number, and their adjacency. In the chain that consist of the same type and number of links the type of joints control the quality of motion generation. Keeping all these aspects of kinematic chains a selection (index) criterion is proposed for kinematic chains from the structural error point of view which provide a simple quantitative estimate to compare all the eligible chains
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