Complete list of 1-DoF and 2-DoF planar kinematic chains with 6 and 7 loops
Description
The compressed file provided herein includes supplementary materials corresponding to the manuscript titled "Structural Synthesis of Planar Kinematic Chains for Non-Redundant Parallel Manipulators," authored by Morlin, Carboni, and Martins. The manuscript has been submitted for publication in Journal of Mechanical Design.
Files
Steps to reproduce
This compilation embodies the results of the synthesis process for planar kinematic chains designed for non-redundant parallel manipulators. Specifically, it serves as an atlas of kinematic chains featuring 6 and 7 loops. The chains are meticulously categorized based on the partitions of the link set, aligned with the vertex degree in the graph. The supplementary files are organized into six distinct folders: 1. KC163: Kinematic chains with mobility 1, 6 loops, and lambda 3. 2. KC173: Kinematic chains with mobility 1, 7 loops, and lambda 3. 3. KC263: Kinematic chains with mobility 2, 6 loops, and lambda 3. 4. KC273: Kinematic chains with mobility 2, 7 loops, and lambda 3. 5. KC363: Kinematic chains with mobility 3, 6 loops, and lambda 3. 6. KC373: Kinematic chains with mobility 3, 7 loops, and lambda 3. Each folder is systematically arranged based on the number of links and their assortments. For instance, in the "KC163" folder, the file labeled [9, 0, 5, 0, 0, 0] comprises 302 chains, featuring nine binary links, zero ternary links, and five quaternary links. Similarly, within the "KC263" folder, the file [5, 10, 0, 0, 0, 0] encompasses 21,350 chains, composed of five binary links and ten ternary links. Each chain is identified by its corresponding .g6 string, utilizing the graph6 format, which is well-suited for both small and large dense graphs. This format encodes the upper triangle of the adjacency matrix as a concatenation of printable ASCII characters. Comprehensive information about the graph6 format is available online at https://users.cecs.anu.edu.au/~bdm/data/formats.txt.