Frontiers of Mechanical Engineering
>> 2009,
Volume 4,
Issue 3
doi:
10.1007/s11465-009-0061-6
Loop theory and applications to some key problems of kinematic structure of kinematic chains
Robotics Research Center of Yanshan University, Qinhuangdao 066004, China
Available online: 2009-09-05
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Abstract
Structure synthesis of mechanisms is a pivotal issue in the field of mechanical innovation and mechanical conceptual design. In this paper, a new loop theory of kinematic chains is proposed. Based on this theory, some key problems that hamper computer-based automatic synthesis of mechanisms are solved. 1) The open problem of isomorphism of kinematic chains that has lasted for more than four decades is successfully solved. 2) A new rigid sub-chain detection method that is especially suitable for complex chains is proposed. 3) The characteristic representation code remains the same even if the drawing modes and labeling ways of a chain are changed, and an atlas database of kinematic chains is established. The multi-value problem for the representation of kinematic chains is solved. The results in this paper will benefit the digitization and computerization of mechanical conceptual design.