Atlas Database of 2-DOF Kinematic Chains and Its Application to the Creative Design of Mechanisms

2011 ◽  
Author(s):  
Huafeng Ding ◽  
Andre´s Kecskeme´thy ◽  
Zhen Huang
Keyword(s):  
Graph Representation ◽  
Creative Design ◽  
The Novel ◽  
Kinematic Structure ◽  
Performance Indices ◽  
Topological Graphs ◽  
Systematic Method ◽  
Kinematic Chains ◽  
Challenging Issue ◽  
The Creation

Creation of novel kinematic structures of mechanisms has been a challenging issue which is usually conducted on experience and intuition. This paper, however, proposes a systematic method for the creative design of mechanism-based products and equipments on the basis of corresponding atlas database, and the creative design of an 11-link 2-DOF rode tractor is provided as an example. First, the transformation of the kinematic structure of mechanisms into graph representation is addressed. Then, the complete atlas database of 11-link 2-DOF kinematic chains is established by obtaining all the non-fractionated topological graphs through their contracted graphs and all the fractionated topological graphs through the combination of 1-DOF kinematic chains. Finally, based on the established atlas database, the creation design for the novel mechanisms of 11-link 2-DOF rode tractors is implemented, and all the nine novel feasible mechanisms (including the widely used one reported in literature) which satisfy the proposed performance indices are obtained.

Complete Atlas Database of 2-DOF Kinematic Chains and Creative Design of Mechanisms

2012 ◽  
Vol 134 (3) ◽  
Author(s):  
Huafeng Ding ◽  
Wenao Cao ◽  
Andrés Kecskeméthy ◽  
Zhen Huang
Keyword(s):  
Creative Process ◽  
Degrees Of Freedom ◽  
Systematic Approach ◽  
Computer Models ◽  
Creative Design ◽  
Kinematic Structure ◽  
Topological Graphs ◽  
Kinematic Chains ◽  
First Time ◽  
Intuitive Manner

The creation of novel kinematic structures of mechanisms still represents a major challenge in the quest for developing new, innovative devices. In this setting, computer models that can automatically generate and visualize all possible independent structures in an intuitive manner prove to be valuable as a support in the creative process of the designer. This paper proposes an automatic approach for establishing the complete atlas database of 2-DOF kinematic chains and a systematic approach for the creative design of mechanisms based on such an atlas. First, the transformation of the kinematic structure into a graph-based representation is addressed. Then, an approach for the generation of all nonfractionated topological graphs of 2-DOF (degrees of freedom) kinematic chains using contracted graphs as well as a method for synthesizing all the fractionated topological graphs through the combination of corresponding 1-DOF kinematic chains are addressed. Based on these methods, the complete atlas database of 2-DOF kinematic chains up to 15 links is established in this paper for the first time. Using this complete database, a systematic approach for the creative design of mechanisms can be derived, as illustrated for the example of an 11-link 2-DOF rode tractor.

A Unified Concept for the Graph Representation of Constraints in Mechanisms

2014 ◽  
Author(s):  
Andreas Müller ◽  
Offer Shai
Keyword(s):  
Rigid Bodies ◽  
The Body ◽  
Graph Representation ◽  
The Novel ◽  
Topological Graphs ◽  
Mixed Graph ◽  
Mixed Constraint ◽  
Constraint Graph ◽  
Special Cases ◽  
Machine Theory

There are two established approaches to represent constraints: the body-bar (BB) and the bar-joint (BJ) graph that can be used in machine theory. They are referred to as topological graphs as they describe the relation between members of a mechanism. It is known, however, that in many cases these graphs are not unique. Hence any method for kinematic analysis or mobility determination that is based on these topological graphs is prone to failures. In this paper a generalized and unified concept for the representation of constraints in mechanisms is introduced. It is first shown in which situations BB and BJ representations fail to correctly represent the mechanism. The novel constraint graph is then derived starting from the most general model of constrained rigid bodies. It is shown how BB and BJ graphs result as special cases. Therefore the new graph representation is called the ‘mixed graph’. It is further shown how this novel mixed constraint graph allows for computation of the correct generic (topological) mobility, and thus overcomes the problems of BB and BJ representations.

The Development of an Atlas of the Kinematic Structures of Mechanisms

1984 ◽  
Vol 106 (4) ◽  
pp. 458-461 ◽  
Author(s):  
M. Mayourian ◽  
F. Freudenstein
Keyword(s):  
Wide Class ◽  
Mechanical Design ◽  
Three Dimensional ◽  
Kinematic Structure ◽  
Kinematic Chains ◽  
The Creation ◽  
Partial Automation

Based on the restrictions governing the admissible graphs of the kinematic chains of mechanisms, an atlas or listing of 35 graphs has been developed which defines the kinematic structure of a wide class of plane and three-dimensional mechanisms with up to six links. Such an atlas can serve as the basis for the creation of mechanisms in the conceptual stage of mechanical design and permits the partial automation of this process. The same procedure would also be applicable to the development of a similar atlas for mechanisms with more than six links and a greater variety of joints.

scholarly journals Kinematic Analysis of Tendon-Driven Robotic Mechanisms Using Graph Theory

1989 ◽  
Vol 111 (1) ◽  
pp. 59-65 ◽  
Author(s):  
Lung-Wen Tsai ◽  
Jyh-Jone Lee
Keyword(s):  
Graph Theory ◽  
Kinematic Analysis ◽  
Graph Representation ◽  
Kinematic Structure ◽  
Kinematic Chains ◽  
Epicyclic Gear ◽  
Gear Trains ◽  
Robotic Devices

The kinematic structure of tendon-driven robotic mechanisms has been investigated with the aid of graph theory. The correspondence between the graph representation of the kinematic structure and the mechanism has been established. We have shown that the kinematic structure of tendon-driven kinematic chains is similar to that of epicyclic gear trains. We also have shown that, using the concept of fundamental circuits, the displacement equations of tendon-driven robotic mechanisms can be systematically derived from the kinematic structure. The theory has been demonstrated by the kinematic analysis of three articulated robotic devices.

The Novel Characteristic Representations of Kinematic Chains and Their Applications

2005 ◽  
Author(s):  
Z. Huang ◽  
H. F. Ding ◽  
Y. Cao
Keyword(s):  
Adjacency Matrix ◽  
Degree Sequence ◽  
Object Oriented ◽  
Kinematic Chain ◽  
Object Oriented Programming ◽  
The Novel ◽  
Topological Graphs ◽  
Kinematic Chains ◽  
Set Up ◽  
Oriented Programming Language

In this paper, based on perimeter topological graphs of kinematic chains, many novel topological concepts including the synthetic degree-sequence, the characteristic adjacency matrix and the characteristic representation code of kinematic chain are proposed. Both the characteristic adjacency matrix and the characteristic representation code are unique for any kinematic chain and easy to be set up. Therefore a quite effective isomorphism identification method is presented depending on the characteristic adjacency matrix. It high effectiveness is proved by many examples. With object-oriented programming language, a program which can sketch topological graphs of kinematic chains has been developed based on the characteristic representation code. Finally, an application software system establishing the atlas database of topological graphs is introduced. And some functions about the atlas database are also presented in this paper.

Computer-Aided Edge Loop Theory of Kinematic Structure of Mechanisms and Its Applications

2009 ◽  
Author(s):  
Huafeng Ding ◽  
Jing Zhao ◽  
Qinchuan Li ◽  
Zhen Huang
Keyword(s):  
Efficient Method ◽  
Kinematic Structure ◽  
Computation Complexity ◽  
Topological Graphs ◽  
Kinematic Chains ◽  
Loop Theory ◽  
Computer Aided ◽  
Structure Decomposition ◽  
Edge Based ◽  
Selection Of

Based on the edge-based array representation of loops in the topological graphs of kinematic chains, this paper first proposes three arithmetic operations of loops. Then the concept of the independent loop set as well as it determination rules is introduced, and a new structure decomposition algorithm of kinematic chains is presented. Based on the algorithm, an automatic and efficient method for rigid subchain detection and driving pair selection of kinematic chains is proposed. Finally, an index is proposed to assess computation complexity of kinematic analysis with respect to different driving pair selections.

Generation of Planar Kinematic Chains With One Multiple Joint

2013 ◽  
Author(s):  
Huafeng Ding ◽  
Weijuan Yang ◽  
Peng Huang ◽  
Li Ma ◽  
Andrés Kecskeméthy
Keyword(s):  
Conceptual Design ◽  
Degrees Of Freedom ◽  
Characteristic Number ◽  
Automatic Method ◽  
Topological Graph ◽  
Topological Graphs ◽  
Systematic Method ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
First Time

It is very important to synthesize as many feasible kinematic structures of mechanisms as possible in the conceptual design of mechanisms. Besides simple joint mechanisms, multiple joint mechanisms are also widely used in various mechanical systems. This paper proposes an automatic method for the synthesis of planar multiple joint kinematic chains which are seldom addressed in literature. The bicolor topological graph and the bicolor contracted graph are adopted to represent the topological structures of multiple joint kinematic chains. The characteristic number string of bicolor topological graphs is proposed and used to detect efficiently isomorphism in the synthesis progress. 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 obtained for the first time.

Creative Design Based on Mechanism Regeneration of a Sofa Bed

2011 ◽  
Vol 66-68 ◽  
pp. 442-447
Author(s):  
Shi Fu Xu ◽  
Lei Zhang ◽  
Lu Zhang
Keyword(s):  
Design Methodology ◽  
Mechanical Design ◽  
Synthesis Method ◽  
Original Structure ◽  
Creative Design ◽  
Type Synthesis ◽  
Systematic Method ◽  
Kinematic Chains ◽  
Different Shapes ◽  
Number Synthesis

Creative design plays a quite important role in mechanical product processing, which affects the mechanical development of all over the country. Much research on the mechanical design is carried on. The paper is mainly based on Yan’s Creative Mechanism Design Methodology, in which the author carries out some research in Type Synthesis based on the Number Synthesis Method. And kinematic chains of eight links and ten joints can be gained from embryo graphs. In the article, the author proposes a systematic method for the creation of a sofa bed. In the process, some rules are brought in, and the original structure is changed for other structures with the same functions but different shapes. At last, many probable schemes different from the original mechanism are obtained. The next step is to choose the most proper scheme in order to carry on the further analysis.

Determining the Presence of Rigid Sub-Frames in Kinematic Chains

1988 ◽  
Author(s):  
R. Bhasin ◽  
J. E. Beard ◽  
J. A. Brewer
Keyword(s):  
Kinematic Structure ◽  
Planar Mechanisms ◽  
Kinematic Chains ◽  
Automated Process ◽  
The Creation

Abstract Applying the concepts of the instant centers (IC’s) to the kinematic structure of a mechanism, a powerful new tool has been developed to detect the presence of a rigid sub-frame (RSF) in it’s configuration. The presence of an over-defined IC indicates the presence of an over-constrained sub-chain in the configuration. A ‘trace’ (T) of all the instant center, obtained at any stage of the analysis, is required to be maintained and compared, in order to develop a generalized method that applies only to the topology of the configuration. The compact, efficient and completely automated process of RSF checking allows a purely arbitrary approach to the creation of the kinematic structure of planar mechanisms of unlimited size.

The Creation of a Multi-Link Load Balancing Mechanism for Planetary Gearing: Part 1 — Type Synthesis

1992 ◽  
Author(s):  
Zhang Hong ◽  
Ting Li Yang ◽  
Jin Kui Chu ◽  
Wei-qing Cao
Keyword(s):  
Load Balancing ◽  
Arbitrary Number ◽  
Degrees Of Freedom ◽  
Kinematic Structure ◽  
Type Synthesis ◽  
Kinematic Chains ◽  
Topological Parameters ◽  
Topological Characteristics ◽  
The Creation

Abstract This series of papers design a multi-link load balancing mechanism for the Planetary Gearings with arbitrary number of planet gears. Based on the study of SGP load balancing mechanisms, this paper analyzed the relations between the function and kinematic structure of the multilink load balancing mechanism, and presented the topological characteristics and parameters of the kinematic chains suited for load balancing mechanism. Those topological parameters depend on the number of planet gears. In the type synthesis for the case of six planet gears, the kinematic chains with five degrees of freedom and eighteen links were enumerated according to the topological characteristics. The resulting mechanisms were 15 candidate multi-link load balancing mechanism.

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