Kinematic chains with independent loops and spatial system groups

Popescu, Iulian; Marghitu, Dan B.; Stoenescu, Eleonor

doi:10.1007/s00419-006-0064-2

Cited by 4 publications

(5 citation statements)

References 11 publications

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“…In 1968 Manolescu [70] adopted this formula for mobility and kinematic analysis and so, later on, Topology, Mobility and Connectivity of a kinematic chain were also investigated by using the concept of a set of fundamental circuits (see for example Ref. [71][72][73][74][75][76][77][78][79][80][81][82][83][84][85][86][87]). …”

Section: Independent Loop Setmentioning

confidence: 99%

On Crossley's contribution to the development of graph based algorithms for the analysis of mechanisms and gear trains

Pennestrı̀

Belfiore

2015

Mechanism and Machine Theory

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This paper celebrates a particular branch of Crossley's early work dedicated to Mechanism Science, which deals with a rigorous introduction of Graph Theory to the study of some fundamental and intrinsic properties of kinematic chains and mechanisms. Although such idea gave its main outcome in Type and Number Synthesis (which has been much better and extensively described in another paper of the present special issue) some other intriguing side effects appeared, later in Mechanism Science, which yielded several results, and are still in the center of research and industrial world interest, such as, to name but a few, the automatic generation of the equations governing kinematic, static force and dynamic analysis of mechanisms and geared trains, the power flow analysis, the computation of the efficiency and, finally, the never fully explored structure-to-function mapping, which the present contribution points out to be still a challenge in the field

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Section: Independent Loop Setmentioning

confidence: 99%

On Crossley's contribution to the development of graph based algorithms for the analysis of mechanisms and gear trains

Pennestrı̀

Belfiore

2015

Mechanism and Machine Theory

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“…Recently, modular kinematic analyses have been extended to the calculation of Jacobian matrices and quality indexes [4,5]. Similar to the analysis, synthesis of mechanisms which addresses topological variations often implements modular approaches [8,16,17] that allow to rebuild immediately the kinematic structure of the model, therefore, ensuring the continuity of the design process [18,24]. In this sense, modules (e.g.…”

Section: Introductionmentioning

confidence: 99%

“…Modular analysis and synthesis are not limited to the planar case, e.g. references [18,22] extend the modules to the spatial case, specifically for the synthesis of spatial mechanisms with a prescribed degree of freedom.…”

Section: Introductionmentioning

confidence: 99%

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Graph-based structural analysis of planar mechanisms

2016

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Kinematic structure of planar mechanisms addresses the study of attributes determined exclusively by the joining pattern among the links forming a mechanism. The system group classification is central to the kinematic structure and consists of determining a sequence of kinematically and statically independent-simple chains which represent a modular basis for the kinematics and force analysis of the mechanism. This article presents a novel graph-based algorithm for structural analysis of planar mechanisms with closed-loop kinematic structure which determines a sequence of modules (Assur groups) representing the topology of the mechanism. The computational complexity analysis and proof of correctness of the implemented algorithm are provided. A case study is presented to illustrate the results of the devised method.

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“…The performance of manipulator is then achieved through drive control, using feedback through sensors [47]. The structural synthesis approach is used to analyze the spatial mechanism for number of independent loops, and joints are discussed [48]. Multiple uncertainties like manufacturing tolerances, input errors and joint clearances are also considered in planar manipulators.…”

Section: Introductionmentioning

confidence: 99%

Investigation of mechanical error in four-bar mechanism under the effects of link tolerance

Jawale

Jaiswal

2018

J Braz. Soc. Mech. Sci. Eng.

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Many planar manipulators are composed of a basic four-bar mechanism. The output delivered by the mechanism deviates from desired one due to factors like link tolerances. The performance needs to be characterized for satisfactory application. This article presents investigation of mechanical error in four-bar mechanism with revolute joints (4R) under the influence of link tolerance. The classical partial derivative formulation (PDA) in uncertainty analysis technique is primarily used for estimating the mechanical error. The error estimation is carried out with proposed modification in PDA formulation. A geometric approach is also developed to estimate the mechanical error for 4R configuration. The mechanical error obtained through PDA is verified using geometric approach. The generalized formulation is demonstrated, and comparative estimation is presented. The methods and conclusions proposed herewith are adaptable for other planar configurations.

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Kinematic chains with independent loops and spatial system groups

Cited by 4 publications

References 11 publications

On Crossley's contribution to the development of graph based algorithms for the analysis of mechanisms and gear trains

On Crossley's contribution to the development of graph based algorithms for the analysis of mechanisms and gear trains

Graph-based structural analysis of planar mechanisms

Investigation of mechanical error in four-bar mechanism under the effects of link tolerance

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