Abstract
An analysis matrix approach for solving an isomeric topology embryonic graph and a digital group approach for solving an isomeric topology graph of a unified planar-spatial mechanism are presented and the relative theory is discussed. Firstly, all binary links are removed from each acceptable linkage system with different degrees of freedom, many analysis matrixes are constructed, and many topology embryonic graphs of the mechanism are derived. Secondly, from an acceptable multi-element link combination of planar or spatial mechanisms, a rule for determining the isomeric topology embryonic graphs and an unreasonable topology embryonic graph is obtained. Thirdly, by considering the degree of freedom of the mechanism and the configuration of a planar or spatial mechanism, the number of binary links is determined. Finally, all removed binary links are rearranged systematically back into an isomeric topology embryonic graph, and the acceptable topology graphs of the mechanism are derived by using a digital group approach. Some illustrations show that the two approaches are simple and effective tools and can be employed to synthesize both planar and spatial mechanisms.
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