Algorithm for computing the connectivity in planar kinematic chains and its application
| Autor: | Andrés Kecskeméthy, Wenjian Yang, Huafeng Ding |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Creative design
0209 industrial biotechnology Computer science Mechanical Engineering 02 engineering and technology Kinematics Mechanism (engineering) 020303 mechanical engineering & transports 020901 industrial engineering & automation Planar Maschinenbau 0203 mechanical engineering Chain (algebraic topology) Algorithm |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 235:4988-4997 |
| ISSN: | 2041-2983 0954-4062 |
| Popis: | The number of synthesized kinematic chains usually is too large to evaluate individual characteristics of each chain. The concept of connectivity is useful to classify the kinematic chains. In this paper, an algorithm is developed to automatically compute the connectivity matrix in planar kinematic chains. The main work is to compute two intermediate parameters, namely the minimum mobility matrix and the minimum distance matrix. The algorithm is capable of dealing with both simple-jointed and multiple-jointed kinematic chains. The present work can be used to automatically determine kinematic chains satisfying the required connectivity constraint, and is helpful for the creative design of mechanisms. The practical application is illustrated by taking the face-shovel hydraulic excavator for instance. |
| Databáze: | OpenAIRE |
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