Structure Based Grading of Kinematic Chains

Abstract:

Kinematic chains differ due to the structural differences between them. The location of links, joints and loops differ in each kinematic chain to make it unique. Two similar kinematic chains will produce similar motion properties and hence are avoided. The performance of these kinematic chains also depends on the individual topology, i.e. the placement of its entities. In the present work an attempt has been made to compare a family of kinematic chains based on its structural properties. The method is based on identifying the chains structural property by using its JOINT LOOP connectivity table. Nomenclature J - Number of joints, F - Degree of freedom of the chain, N - Number of links, L - Number of basic loops (independent loops plus one peripheral loop).

• Periodical: Applied Mechanics and Materials (Volume 575)
• Pages: 501-506
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.575.501
• Online since: June 2014
• Authors: Shubhashis Sanyal, G.S. Bedi
• Keywords: Entropy, Grading, Isomorphism, Joint, Kinematic Chains, Links, Loops

References

[1] C.N. Rao, A.C. Rao, Selection of Best Frame, Input and Output Links for Function Generators Modelled as Probabilistic Systems, Mechanism and Machine Theory, 31 (1996), 973-983.

DOI: 10.1016/0094-114x(95)00119-j

[2] A. C Rao, Topology based rating of kinematic chains and inversions using information theory, Mechanism and Machine Theory, 33 (1998), 1055–1062.

DOI: 10.1016/s0094-114x(97)00061-x

[3] A. C Rao, A genetic algorithm for topological characteristics of kinematic chains, ASME Journal of Mechanical Design, 122 (2000), 228-231.

DOI: 10.1115/1.533569

[4] A.C. Rao, Parallelism in planar kinematic chains (manipulators), Mechanism and Machine Theory, 39 (2004), 1111–1122.

DOI: 10.1016/s0094-114x(03)00108-3

[5] A. C Rao, Pseudogenetic algorithm for evaluation of kinematic chains, Mechanism and Machine Theory, 41 (2006), 473–485.

DOI: 10.1016/j.mechmachtheory.2005.05.002

[6] A. Srinath , A.C. Rao, Correlation to detect isomorphism, parallelism and type of freedom, Mechanism and Machine Theory, 41 (2006), 646–655.

DOI: 10.1016/j.mechmachtheory.2005.09.008

[7] A. Srinath , A.C. Rao, Planar linkages: Structural influence on mechanical advantage and function generation, Mechanism and Machine Theory, 42 (2007), 472–481.

DOI: 10.1016/j.mechmachtheory.2006.04.003

[8] A. Srinath , A.C. Rao, Kinematic chains for robot hands: Grasp and rigidity, Mechanism and Machine Theory, 42 (2007), 691–697.

DOI: 10.1016/j.mechmachtheory.2006.06.009

[9] A.C. Rao, Jagadeesh Anne, Topology based characteristics of kinematic chains: work space, rigidity, input-joint and isomorphism, Mechanism and Machine Theory, 33 (2007), 625–638.

DOI: 10.1016/s0094-114x(97)00073-6

[10] Prasad Raju V. V. N. R. and Rao, A. C. Gradation of planar mechanism structures for robot arms based on their structural error performance, Proceedings of ASME 2001 Design Engineering Conference and Computers and Information in Engineering Conference, 955 – 962.

DOI: 10.1115/detc2001/dac-21113

[11] Sanyal Shubhashis, Application of Probability Concepts to Investigate Isomorphism and Other Characteristics of Kinematic Chains, PhD. Thesis, Rani Durgavati Vishwavidyalaya, Jabalpur, (1997).

[12] G S Bedi and S Sanyal, Modified Joint Connectivity approach for Identification of Topological Characteristics of Planar Kinematic Chains, Proceedings of the Institution of Mechanical Engineers Part C [PIC]: Journal of Mechanical Engineering Science, 225 (2011).

DOI: 10.1177/0954406211404102

[13] Sanyal Shubhashis, Structural Identification of Distinct Inversions of Planar Kinematic Chain, IIUM Engineering Journal, Special Issue, Mechanical Engineering, 2011, 87 – 94.

DOI: 10.31436/iiumej.v12i3.144