A Method for Detection of Distinct Mechanisms of a Planar Kinematic Chain

Abstract

This paper presents a computationally simple and efficient method for identification of distinct mechanisms of a planar kinematic chain having a single degree of freedom. It is proposed that velocity diagrams for all the inversions of a chain be drawn and the possible isomorphism among these velocity diagrams be detected. From the velocity diagram, a motion transfer point matrix can be prepared resulting in the development of a numerical scheme to be associated with a mechanism. Identical schemes lead to detection of isomorphism between mechanisms. The main advantage of this method is that, apart form detecteing isomorphism, it indicates which of the inversions is better kinematically e.g. higher the total number of vectors, better is the mechanism.

Structural Identification of Distinct Inversions of Planar Kinematic Chains

“…Ambekar and Agrawal [4] extended the min code approach to identify the inversions corresponding to the original kinematic chain. Patel and Rao [5] presented a method based on velocity graphs and motion transfer matrix. The hamming number technique of Rao and Raju [6] has the potential to disclose the distinct inversions.…”