It is of great importance in the conceptual creative design of mechanical systems to synthesize as many feasible kinematic structures of mechanisms as possible. However, the methods for the structural synthesis of multiple joint kinematic chains are seldom addressed in literature even though they are widely used in various mechanical products. This paper proposes an automatic method to synthesize planar multiple joint kinematic chains. First, the bicolor topological graph and the bicolor contracted graph are introduced to represent the topological structures of multiple joint kinematic chains. Then, the characteristic number string of bicolor topological graphs is proposed and used to efficiently detect isomorphism in the synthesis progress. Finally, a systematic method for the synthesis of kinematic chains with one multiple joint is proposed, and the whole families of multiple joint kinematic chains with up to 16 links and all possible degrees of freedom are synthesized for the first time.
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September 2013
Research-Article
Automatic Structural Synthesis of Planar Multiple Joint Kinematic Chains
Huafeng Ding,
Huafeng Ding
1
Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Hebei Provincial Key Laboratory of Parallel
Robot and Mechatronic System,
e-mail: dhf@ysu.edu.cn
Stamping Technology and Science,
Ministry of Education of China,
Yanshan University
,Qinhuangdao 066004
, China
;Hebei Provincial Key Laboratory of Parallel
Robot and Mechatronic System,
Yanshan University
,Qinhuangdao 066004
, China
e-mail: dhf@ysu.edu.cn
1Corresponding author.
Search for other works by this author on:
Peng Huang,
Peng Huang
e-mail: h1985p@163.com
Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Yanshan University
,Qinhuangdao 066004
, China
Search for other works by this author on:
Andrés Kecskeméthy
Andrés Kecskeméthy
Chair for Mechanics and Robotics,
e-mail: andres.kecskemethy@uni-due.de
University of Duisburg-Essen
,Duisburg 47057
, Germany
e-mail: andres.kecskemethy@uni-due.de
Search for other works by this author on:
Huafeng Ding
Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Hebei Provincial Key Laboratory of Parallel
Robot and Mechatronic System,
e-mail: dhf@ysu.edu.cn
Stamping Technology and Science,
Ministry of Education of China,
Yanshan University
,Qinhuangdao 066004
, China
;Hebei Provincial Key Laboratory of Parallel
Robot and Mechatronic System,
Yanshan University
,Qinhuangdao 066004
, China
e-mail: dhf@ysu.edu.cn
Weijuan Yang
e-mail: yang_wei_juan@163.com
Peng Huang
e-mail: h1985p@163.com
Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Key Laboratory of Advanced Forging and
Stamping Technology and Science,
Ministry of Education of China,
Yanshan University
,Qinhuangdao 066004
, China
Andrés Kecskeméthy
Chair for Mechanics and Robotics,
e-mail: andres.kecskemethy@uni-due.de
University of Duisburg-Essen
,Duisburg 47057
, Germany
e-mail: andres.kecskemethy@uni-due.de
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received January 4, 2013; final manuscript received May 14, 2013; published online July 2, 2013. Assoc. Editor: Oscar Altuzarra.
J. Mech. Des. Sep 2013, 135(9): 091007 (12 pages)
Published Online: July 2, 2013
Article history
Received:
January 4, 2013
Revision Received:
May 14, 2013
Citation
Ding, H., Yang, W., Huang, P., and Kecskeméthy, A. (July 2, 2013). "Automatic Structural Synthesis of Planar Multiple Joint Kinematic Chains." ASME. J. Mech. Des. September 2013; 135(9): 091007. https://doi.org/10.1115/1.4024733
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