On the number synthesis of kinematic chains

Yan, Hong Sen; Chiu, Yu Ting

doi:10.1016/j.mechmachtheory.2014.08.012

Cited by 59 publications

(12 citation statements)

References 73 publications

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“…, r) or 1 (i = 1) in a reverse numbering process. The corresponding adjacency matrix generated from each step in Figure 10 can be described with transformation matrixes STM and RTM as Equations (6) and (7) to respectively express the steps of sequential numbering and reverse numbering:…”

Section: )mentioning

confidence: 99%

Schematic Diagrams Design of Displacement Suppression Mechanism with One Degree-of-Freedom in a Rope-Guided Hoisting System

et al. 2020

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Since it is difficult for lateral stiffness of rope-guided rails to meet industry criteria in deep construction shaft, schematic diagrams of displacement suppression mechanisms (DSMs) are designed with a systematic approach demonstrated to reduce the lateral displacement of rope-guided rails in this paper. DSMs are simplified as planar four-bar and six-bar topological graphs based on topological theory. Each corresponding mechanical chain of these four-bar and six-bar mechanisms is divided into a rack, mechanical parts, prismatic, and revolute joints. An extended adjacency matrix is defined to represent the rack position, specific types of kinematic joints, and adjacency relationships between kinematic parts. Then, a symmetric vertex identification method is proposed with regard to planar 1-DOF (one degree of freedom) four-bar and six-bar topological graphs to get the sequences of prismatic joints for kinematic chains of DSMs. Finally, the alternative schematic diagrams of DSMs are obtained. The results show four-bar mechanisms with simple structure; few kinematical parts but less resident force are suitable for a mine shaft with small space and small swing. Six-bar mechanisms with two prismatic joints and three mechanical rack degree are applicable for wide shaft space in deep shaft, due to their stable structure and double resistant force. This development is helpful for DSM dimension synthesis design in future.

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Section: )mentioning

confidence: 99%

Schematic Diagrams Design of Displacement Suppression Mechanism with One Degree-of-Freedom in a Rope-Guided Hoisting System

et al. 2020

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“…ory enables type synthesis and analysis of complex kinematic chains, because properties such as planarity, isomorphism and connectivity can be tested on the incidence matrix of a graph. Furthermore, concepts such as graph duality and graph contraction aid mechanism analysis, see [27]. This matrix representation enables effective computer implementation, as first demonstrated in the 1980s [28], [29].…”

Section: Introductionmentioning

confidence: 99%

A String-Based Representation and Crossover Operator for Evolutionary Design of Dynamical Mechanisms

Kuppens

Wolfslag

2018

IEEE Robot. Autom. Lett.

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Robots would perform better when their mechanical structure is specifically designed for their designated task, for instance by adding spring mechanisms. However, designing such mechanisms, which match the dynamics of the robot with the task, is hard and time consuming. To assist designers, a platform that automatically designs dynamical mechanisms is needed. This paper introduces a novel string-based representation for mechanisms, including evolutionary operators, that allows an evolutionary algorithm to automatically design dynamical mechanisms for a designated task. The mechanism representation allows simultaneous optimization of topology and parameters. Simulation experiments investigate various algorithms to obtain best optimization performance. We show the efficacy of the representation, operators and evolutionary algorithm by designing mechanisms that track straight lines and ellipses by virtue of both their kinematic and dynamic properties.

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“…In their study, authors utilized Assur groups as elements of developed adjacency matrix to derive various types of planar mechanisms that include revolute and prismatic joints. Yan et al [8] provided an extensive literature review on the number synthesis of kinematic chains with simple joints. Various methods on the subject were presented and discussed throughout the study.…”

Section: Introductionmentioning

confidence: 99%

Structural Synthesis of Parallel Manipulators Based on a Different Approach

Gezgin¹

2019

deufmd

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This work tries to address structural synthesis procedures of parallel manipulators in a different point of view. In generic methodology while structural synthesis starts from deciding the structure of the platforms and computing the structure of the legs in terms of specified constraints, proposed procedure follows an inverse analogy. After the determination of desired number of legs and subspace constraints of the whole manipulator, possible configurations of platform structures are extracted and checked for their constructability. Throughout the study proposed procedure was introduced in detail along with the constraint equations. Utilizing introduced procedure for given examples, structural groups of parallel manipulators were created with respect to the desired constraints and actuators were attached for mobility considerations. All of the results were tabulated throughout the study in order to form various kinds of parallel manipulators as parallel platform manipulators, serial platform manipulators, and serial-parallel platform manipulators.

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On the number synthesis of kinematic chains

Cited by 59 publications

References 73 publications

Schematic Diagrams Design of Displacement Suppression Mechanism with One Degree-of-Freedom in a Rope-Guided Hoisting System

Schematic Diagrams Design of Displacement Suppression Mechanism with One Degree-of-Freedom in a Rope-Guided Hoisting System

A String-Based Representation and Crossover Operator for Evolutionary Design of Dynamical Mechanisms

Structural Synthesis of Parallel Manipulators Based on a Different Approach

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