This paper attempts to establish unified topological models and corresponding mathematical representations for planar simple joint, multiple joint, and geared (cam) kinematic chains. First, the conventional topological representation models of kinematic chains are introduced. Then, new topological models of multiple joint and geared (cam) kinematic chains, which are derived from the topological model of simple joint kinematic chains, are presented. The characteristics of the new topological graphs and their associations with the topological graph of simple joint kinematic chains are also addressed. The most important merit of the new topological graphs is that it makes it much easier to undertake unified structure synthesis and further to establish conceptual design platform for various planar mechanisms. Synthesis examples of both multiple joint and geared chains are given, which show the effectiveness of the unified topological models.
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November 2009
Technical Briefs
Unified Topological Representation Models of Planar Kinematic Chains
Huafeng Ding,
Huafeng Ding
Robotics Research Center,
e-mail: dhf@ysu.edu.cn
Yanshan University
, Qinhuangdao 066004, China; Key Laboratory of Industrial Computer Control Engineering of Hebei Province
, Qinhuangdao 066004, China
Search for other works by this author on:
Jing Zhao,
e-mail: happyzj03@163.com
Jing Zhao
Key Laboratory of Industrial Computer Control Engineering of Hebei Province
, Qinhuangdao 066004, China
Search for other works by this author on:
Zhen Huang
Zhen Huang
Search for other works by this author on:
Huafeng Ding
Robotics Research Center,
Yanshan University
, Qinhuangdao 066004, China; Key Laboratory of Industrial Computer Control Engineering of Hebei Province
, Qinhuangdao 066004, Chinae-mail: dhf@ysu.edu.cn
Jing Zhao
Key Laboratory of Industrial Computer Control Engineering of Hebei Province
, Qinhuangdao 066004, Chinae-mail: happyzj03@163.com
Zhen Huang
J. Mech. Des. Nov 2009, 131(11): 114503 (6 pages)
Published Online: October 13, 2009
Article history
Received:
January 11, 2009
Revised:
September 2, 2009
Published:
October 13, 2009
Citation
Ding, H., Zhao, J., and Huang, Z. (October 13, 2009). "Unified Topological Representation Models of Planar Kinematic Chains." ASME. J. Mech. Des. November 2009; 131(11): 114503. https://doi.org/10.1115/1.4000215
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