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Loop theory and applications to some key problems of kinematic structure of kinematic chains

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Abstract

Structure synthesis of mechanisms is a pivotal issue in the field of mechanical innovation and mechanical conceptual design. In this paper, a new loop theory of kinematic chains is proposed. Based on this theory, some key problems that hamper computer-based automatic synthesis of mechanisms are solved. 1) The open problem of isomorphism of kinematic chains that has lasted for more than four decades is successfully solved. 2) A new rigid sub-chain detection method that is especially suitable for complex chains is proposed. 3) The characteristic representation code remains the same even if the drawing modes and labeling ways of a chain are changed, and an atlas database of kinematic chains is established. The multi-value problem for the representation of kinematic chains is solved. The results in this paper will benefit the digitization and computerization of mechanical conceptual design.

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Authors and Affiliations

  1. Robotics Research Center of Yanshan University, Qinhuangdao, 066004, China

    Huafeng Ding & Zhen Huang

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  1. Huafeng Ding
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  2. Zhen Huang
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Correspondence to Huafeng Ding.

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Ding, H., Huang, Z. Loop theory and applications to some key problems of kinematic structure of kinematic chains. Front. Mech. Eng. China 4, 276–283 (2009). https://doi.org/10.1007/s11465-009-0061-6

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  • DOI: https://doi.org/10.1007/s11465-009-0061-6

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