Automatic Synthesis of Planar Simple Joint Kinematic Chains by Single Kinematic Chain Adding Method

摘要

An automatic topological structural synthesis algorithm has been proposed for planar-simple-joint-kinematic-chains (PSJKC) in this paper. The corresponding incident-matrix(IM)s of PSJKCs with special input parameters can be formed with the single kinematic chain adding method with the help of single-color-topological-graph(SCTG). And based on the procedure for the SCTG automatic drawing, an automatic topological structural synthesis algorithm of PSJKCs with specified degree-of-freedom(DOF) F and number of links n can be synthesized in batch.