Structural Synthesis of 1-DOF up to 5-Loop Kinematic Chains with Multiple Joints and Its Analysis in Robotics

Abstract

In this paper, the systematic method is developed to synthesize planar closed kinematic chains with all the possible kinds of multiple joints according to given K-independent loops and up to total multiple joint factor Vmax. First, the structural synthesis method of multiple joint kinematic chains based on the combination of corresponding simple and multiple joints is presented. Then, the complete atlas database containing all valid multiple joints in closed fractionated kinematic chains with up to 5 independent loops and up to 12 links is established and illustrated. Further, corresponding all possible 14 types of multiple joint assortments up to K = 5 and up to total multiple joint factor Vmax = 8 are obtained and classified in the tables for the first time. Next, the structural analysis of multiple-jointed fractionated kinematic chains with various total multiple joint factors is conducted, and main structural parameters are determinated. Finally, based on atlas database of synthesized kinematic chains with multiple joints, the examples of creation of robot manipulators are provided.