Study on Graphs of Kinematic Chains
نویسنده
چکیده
In this paper the author used graph theory and combinatorial analysis for enumeration of graphs of kinematic chains. Contracted graphs with up to four loops and six vertices are provided in Table 4. Based on the concept of expansion from contracted graphs, conventional graphs are generated. Conventional graphs with up to three independent loops and eight vertices are tabulated in Tables 5,6,7, and 8.. Using this collection, a large number of mechanisms can be developed by labelling the edges of the graphs according to the available joint types and the choice of fixed links.
منابع مشابه
The Extremal Graphs for (Sum-) Balaban Index of Spiro and Polyphenyl Hexagonal Chains
As highly discriminant distance-based topological indices, the Balaban index and the sum-Balaban index of a graph $G$ are defined as $J(G)=frac{m}{mu+1}sumlimits_{uvin E} frac{1}{sqrt{D_{G}(u)D_{G}(v)}}$ and $SJ(G)=frac{m}{mu+1}sumlimits_{uvin E} frac{1}{sqrt{D_{G}(u)+D_{G}(v)}}$, respectively, where $D_{G}(u)=sumlimits_{vin V}d(u,v)$ is the distance sum of vertex $u$ in $G$, $m$ is the n...
متن کاملA note on polyomino chains with extremum general sum-connectivity index
The general sum-connectivity index of a graph $G$ is defined as $chi_{alpha}(G)= sum_{uvin E(G)} (d_u + d_{v})^{alpha}$ where $d_{u}$ is degree of the vertex $uin V(G)$, $alpha$ is a real number different from $0$ and $uv$ is the edge connecting the vertices $u,v$. In this note, the problem of characterizing the graphs having extremum $chi_{alpha}$ values from a certain collection of polyomino ...
متن کاملApplication of Wavelet Neural Network in Forward Kinematics Solution of 6-RSU Co-axial Parallel Mechanism Based on Final Prediction Error
Application of artificial neural network (ANN) in forward kinematic solution (FKS) of a novel co-axial parallel mechanism with six degrees of freedom (6-DOF) is addressed in Current work. The mechanism is known as six revolute-spherical-universal (RSU) and constructed by 6-RSU co-axial kinematic chains in parallel form. First, applying geometrical analysis and vectorial principles the kinematic...
متن کاملA Framework For Kinematic Modeling of Cooperative Robotic Systems Based on Screw Theory
This paper concerns the analysis of the screw theory-based kinematic modeling in order to ease the programming process. To do so, an object-oriented computational framework is developed from this analysis. Screw theory and related tools are well used in motion analysis of open and closed kinematic chains, typical of robotic manipulators, in an uniform and systematic way. Their use in the invers...
متن کاملKinematic Mapping and Forward Kinematic Problem of a 5-DOF (3T2R) Parallel Mechanism with Identical Limb Structures
The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013