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Algorithm for computing the connectivity in planar kinematic chains and its application

Affiliation
Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Yang, Wenjian;
Affiliation
School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan, China
Ding, Huafeng;
GND
172572533
ORCID
0000-0002-2044-7892
LSF
2821
Affiliation
Institute of Mechatronics and System Dynamics, University of Duisburg-Essen, Duisburg, Germany
Kecskeméthy, Andrés
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.

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Date Issued:
22.12.2020
URN:
urn:nbn:de:hbz:465-20230825-082758-7
DOI:
10.1177/0954406220980507
Language:
English
Type of Resource:
Text
Keywords:
Connectivity; connectivity matrix; planar kinematic chain; creative design; mechanism
Collection:
E-Publications
Subject categories of the Deutsche Nationalbibliografie:
620 Engineering & allied operations
Hosting institution:
Faculty of Engineering, Maschinenbau und Verfahrenstechnik, Institut für Mechatronik und Systemdynamik, Mechanics and Robotics
funding:
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.
Info on primary publication:

Yang W, Ding H, Kecskemethy A. Algorithm for computing the connectivity in planar kinematic chains and its application. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 2021;235(20):4988-4997. doi:10.1177/0954406220980507

Article first published online: December 22, 2020

version identification:
Version of Record / Verlagsversion

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© IMechE 2020

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