An Automatic Method for Sketching of Planar Simple and Multiple Joint Kinematic Chains

2015 ◽  
Author(s):  
Huafeng Ding ◽  
Peng Huang ◽  
Zhen Huang ◽  
Andrés Kecskeméthy
Keyword(s):  
Mechanical Design ◽  
Kinematic Chain ◽  
Design Stage ◽  
Automatic Method ◽  
Topological Graph ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
Visual Understanding ◽  
Fully Automatic ◽  
Edge Crossings

The sketching of mechanisms (kinematic chains) shows designers a visual understanding of the interrelationship among links and joints in mechanical design, but sketching of mechanisms in manually in conceptual design stage is time-consuming and inefficient. In this paper, a fully-automatic method for sketching of planar simple and multiple joint kinematic chains is proposed. First, the complete sets of the topological structures (topological graphs and contracted graphs) of both simple and multiple joint kinematic chains are introduced. Then an algorithm for the layouts of the contracted graphs with minimal edge crossings is proposed. Third, the expression set of binary sub-paths derived from a topological graph is obtained for the sketching of the simple joint kinematic chain, and based on the sketching of the simple joint kinematic chains the sketching of corresponding multiple joint kinematic chains is obtained. Finally, both simple and multiple joint kinematic chains with numbers of links and numbers of basic loops are provided in batch as examples to show the effectiveness of the method.

Generation of Planar Kinematic Chains With One Multiple Joint

2013 ◽  
Author(s):  
Huafeng Ding ◽  
Weijuan Yang ◽  
Peng Huang ◽  
Li Ma ◽  
Andrés Kecskeméthy
Keyword(s):  
Conceptual Design ◽  
Degrees Of Freedom ◽  
Characteristic Number ◽  
Automatic Method ◽  
Topological Graph ◽  
Topological Graphs ◽  
Systematic Method ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
First Time

It is very important to synthesize as many feasible kinematic structures of mechanisms as possible in the conceptual design of mechanisms. Besides simple joint mechanisms, multiple joint mechanisms are also widely used in various mechanical systems. This paper proposes an automatic method for the synthesis of planar multiple joint kinematic chains which are seldom addressed in literature. The bicolor topological graph and the bicolor contracted graph are adopted to represent the topological structures of multiple joint kinematic chains. The characteristic number string of bicolor topological graphs is proposed and used to detect efficiently isomorphism in the synthesis progress. A systematic method for the synthesis of kinematic chains with one multiple joint is proposed, and the whole families of multiple joint kinematic chains with up to 16 links and all possible degrees of freedom are obtained for the first time.

An algorithm for structural synthesis of planar simple and multiple joint kinematic chains

2013 ◽  
Vol 228 (12) ◽  
pp. 2178-2192 ◽  
Author(s):  
Jinkui Chu ◽  
Yanhuo Zou
Keyword(s):  
Mechanical Design ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
Structural Synthesis ◽  
Joint Kinematic ◽  
Kinematic Chains

Structural synthesis of kinematic chains is one of the most creative and important stages in mechanical design. It provides a number of optional structure types when new mechanisms are created. In this paper, a new algorithm for structural synthesis of planar simple and multiple joint kinematic chains has been proposed by subsequently adding single-kinematic-chain method. By this algorithm, the structure of multiple joint kinematic chains with specified degree-of-freedom, the number of links, and total multiple joint factors P can be synthesized in batch. When P = 0, the structure of simple joint kinematic chains with specified degree-of-freedom, and the number of links can also be generated. Finally, structural synthesis examples of planar simple and multiple joint kinematic chains have been studied to show effectiveness of this algorithm.

Combined Graph Layout Algorithms for Automated Sketching of Kinematic Chains

2012 ◽  
Author(s):  
Martín A. Pucheta ◽  
Nicolás E. Ulrich ◽  
Alberto Cardona
Keyword(s):  
Computational Cost ◽  
Kinematic Chain ◽  
Initial Position ◽  
Graph Representation ◽  
Combinatorial Algorithms ◽  
Graph Layout ◽  
Kinematic Chains ◽  
Aesthetic Characteristics ◽  
Edge Crossings ◽  
Independent Loops

The graph layout problem arises frequently in the conceptual stage of mechanism design, specially in the enumeration process where a large number of topological solutions must be analyzed. Two main objectives of graph layout are the avoidance or minimization of edge crossings and the aesthetics. Edge crossings cannot be always avoided by force-directed algorithms since they reach a minimum of the energy in dependence with the initial position of the vertices, often randomly generated. Combinatorial algorithms based on the properties of the graph representation of the kinematic chain can be used to find an adequate initial position of the vertices with minimal edge crossings. To select an initial layout, the minimal independent loops of the graph can be drawn as circles followed by arcs, in all forms. The computational cost of this algorithm grows as factorial with the number of independent loops. This paper presents a combination of two algorithms: a combinatorial algorithm followed by a force-directed algorithm based on spring repulsion and electrical attraction, including a new concept of vertex-to-edge repulsion to improve aesthetics and minimize crossings. Atlases of graphs of complex kinematic chains are used to validate the results. The layouts obtained have good quality in terms of minimization of edge crossings and maximization of aesthetic characteristics.

The Establishment of Novel Structure Representation Models for Several Kinds of Mechanisms

2009 ◽  
Author(s):  
Huafeng Ding ◽  
Jing Zhao ◽  
Zhen Huang
Keyword(s):  
Topological Graph ◽  
Planar Mechanisms ◽  
Topological Graphs ◽  
Structure Representation ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
Mathematical Representations ◽  
Novel Structure ◽  
Structure Synthesis ◽  
Topological Models

This paper attempts to establish the unified topological models and corresponding mathematical representations for planar simple joint, multiple joint and geared (cam) kinematic chains. First, the conventional topological representation models of kinematic chains are introduced. Then new topological models of multiple joint and geared (cam) kinematic chains, which are derived from the topological graph of simple joint kinematic chains, are presented. The characteristics of the new topological graphs and their associations with the topological graph of simple joint kinematic chains are also addressed. The most important merit of the new topological graphs is that it makes it much easier to do unified structure synthesis and further establish conceptual design platform for various planar mechanisms of these kinds.

Automatic Structural Synthesis of Planar Multiple Joint Kinematic Chains

2013 ◽  
Vol 135 (9) ◽  
Author(s):  
Huafeng Ding ◽  
Weijuan Yang ◽  
Peng Huang ◽  
Andrés Kecskeméthy
Keyword(s):  
Degrees Of Freedom ◽  
Characteristic Number ◽  
Structural Synthesis ◽  
Topological Graph ◽  
Topological Graphs ◽  
Systematic Method ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
Mechanical Products ◽  
First Time

It is of great importance in the conceptual creative design of mechanical systems to synthesize as many feasible kinematic structures of mechanisms as possible. However, the methods for the structural synthesis of multiple joint kinematic chains are seldom addressed in literature even though they are widely used in various mechanical products. This paper proposes an automatic method to synthesize planar multiple joint kinematic chains. First, the bicolor topological graph and the bicolor contracted graph are introduced to represent the topological structures of multiple joint kinematic chains. Then, the characteristic number string of bicolor topological graphs is proposed and used to efficiently detect isomorphism in the synthesis progress. Finally, a systematic method for the synthesis of kinematic chains with one multiple joint is proposed, and the whole families of multiple joint kinematic chains with up to 16 links and all possible degrees of freedom are synthesized for the first time.

Unified Topological Representation Models of Planar Kinematic Chains

2009 ◽  
Vol 131 (11) ◽  
Author(s):  
Huafeng Ding ◽  
Jing Zhao ◽  
Zhen Huang
Keyword(s):  
Conceptual Design ◽  
Topological Representation ◽  
Topological Graph ◽  
Planar Mechanisms ◽  
Topological Graphs ◽  
Joint Kinematic ◽  
Kinematic Chains ◽  
Mathematical Representations ◽  
Structure Synthesis ◽  
Topological Models

This paper attempts to establish unified topological models and corresponding mathematical representations for planar simple joint, multiple joint, and geared (cam) kinematic chains. First, the conventional topological representation models of kinematic chains are introduced. Then, new topological models of multiple joint and geared (cam) kinematic chains, which are derived from the topological model of simple joint kinematic chains, are presented. The characteristics of the new topological graphs and their associations with the topological graph of simple joint kinematic chains are also addressed. The most important merit of the new topological graphs is that it makes it much easier to undertake unified structure synthesis and further to establish conceptual design platform for various planar mechanisms. Synthesis examples of both multiple joint and geared chains are given, which show the effectiveness of the unified topological models.

The Systemic Research on Loop Characteristics of Planar Kinematic Chains and Its Applications

2005 ◽  
Author(s):  
H. F. Ding ◽  
Z. Huang ◽  
Y. Cao
Keyword(s):  
Degree Sequence ◽  
Kinematic Chain ◽  
Loop Analysis ◽  
Topological Graph ◽  
Type Analysis ◽  
Kinematic Chains ◽  
Relationship Of ◽  
The Relationship ◽  
Basic Loop ◽  
Isomorphism Identification

Based on the array representation of loop in topological graph of kinematic chains, this paper proposes two basic loop operations. Their existent conditions and properties of the two operations are also researched. In further loop analysis we discuss the important concepts including the independent loop, canonical degree-sequence and perimeter topological graph. Two Theorems deal with the relationship of loops. Based on above basic theory some important applications are given, such as the isomorphism identification based on the loop set concept, the detection of the rigid sub-chains in a kinematic chain and the type analysis of freedom of kinematic chains.

Research on Engineering Materials with New Method of Type Configuration of Metamorphic Mechanism

2014 ◽  
Vol 540 ◽  
pp. 143-150
Author(s):  
Jia Li ◽  
Jiang Yi Kong ◽  
Han Yuan Liao ◽  
Yu Hou ◽  
Liang Bo Sun
Keyword(s):  
Numerical Calculation ◽  
Kinematic Chain ◽  
Degree Of Freedom ◽  
New Method ◽  
Connecting Rod ◽  
Topological Graph ◽  
Kinematic Chains ◽  
Metamorphic Mechanism ◽  
Engineering Materials

The fomula between the numbers of link of kinematic chain,the numbers of prismatic pair,the numbers of connecting rod for each unit,ring numbers of kinematic chain,and degree of freedom of mechanism with 3 degree of freedom has been introduced in this paper by means of method of numerical calculation,the configuration of kinematic chain with F=2 also has been introduced,and an example of systhesis of metamorphic mechanism for this kinematic chain have been listed the kinematic chain and its isomers for these mechanism with 3 degree of freedom have been studied by using the method of topological graph,the kinematic chains and its isomers and have been obtained for 28 types of mechanism which have 3 degree of freedom and its numbers of link is less than 10,this method is usful for type systhesis of metamorphic mechanism. The study will greatly promote the mechanism used in engineering materials.

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

Sign in / Sign up

Export Citation Format

Share Document