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Title: The structural synthesis of planar 10-link, 3-DOF simple and multiple joint kinematic chains

Authors: Jinkui Chu; Yanhuo Zou; Pengfei He

Addresses: Key Laboratory for Dalian University of Technology Precision and Non-traditional Machining of Ministry of Education, Dalian, Liaoning, 116024, China ' Key Laboratory for Dalian University of Technology Precision and Non-traditional Machining of Ministry of Education, Dalian, Liaoning, 116024, China ' Key Laboratory for Dalian University of Technology Precision and Non-traditional Machining of Ministry of Education, Dalian, Liaoning, 116024, China

Abstract: A method has been proposed for structural synthesis of the planar 10-link, 3-DOF simple and multiple joint kinematic chains in this paper. The procedure for structural synthesis of the kinematic chains is obtained by applying the single-kinematic-chain (SKC) adding theory with the help of double-colour-topological-graph (DCTG) model representation. The mean feature of this method is that a multiple joint kinematic chain with L independent loops can be formed by subsequently adding single-open-chain (SOC) on a single-closed-chain (SCC) with three adding styles. By this method, the structures of all the 10-link, 3-DOF simple and multiple joint kinematic chains have been synthesised by computer.

Keywords: structural synthesis; planar joint kinematic chains; simple joint kinematic chains; multiple joint kinematic chains; double colour topological graphs; DCTG; model representation; independent loop; single open chains; SOC; single closed chains; SCC; adding style.

DOI: 10.1504/IJBBR.2013.058718

International Journal of Biomechatronics and Biomedical Robotics, 2013 Vol.2 No.2/3/4, pp.150 - 162

Available online: 17 Jan 2014 *

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