Modified joint connectivity approach for identification of topological characteristics of planar kinematic chains

摘要

In a kinematic chain, the links are connected to each other through joints. The connectivity of a joint indicates the number of joints to which it is connected. The connectivity level of a joint indicates the distance by which it is separated from the adjacent joints. The concept of joint connectivity and its application to detect isomorphism among kinematic chains and their inversions has been already reported by authors. The method utilizes the connectivity of joints at different levels to detect isomorphism and inversions among planar kinematic chains. The method is applied to eight-, nine-, and ten-link planar kinematic chains. The results so obtained are in agreement with those available in the literature. In this study, the method is further improved by incorporating the type of joint to make it more effective for the detection of isomorphism and distinct inversions. A joint connectivity table completely representing the kinematic chain is proposed. The application of the method is extended for the determination of additional topological characteristics of chains such as categorization of kinematic chains and selection of preferred frame, input and output links for function and path generation. The concept of 'Motion Transfer Ability' is introduced and utilized to develop numerical measures for comparing and categorizing the chains at the synthesis stage of mechanism design for a specific application. The method was successfully tested on planar kinematic chains with single and multiple degrees of freedom and the results for eight- and nine-link kinematic chains are appended.