Structural Classification and Enumeration of Pin-Jointed Kinematic Chains

핀 조인트로 구성된 기구학적 연쇄들의 구조적 분류 및 열거

A method for the classification of kinematic chains according to the similarity in their structures is proposed. Classifcation code is defined from the contracted graph of the kinematic chain. This method of classifying kinematic chains can be effectively used for the systematic enumeration of structurally distinct kinematic chains given the number of links and degrees of freedom of the kinematic chains. Two separate steps for the enumeration are developed in the study. The first step is to generated all the possible classification codes and the next step is to generate individual kinematic chains belonging to each classification code generated. Using this two step procedure, kinematic chains up to 12 links are successfully enumerated in the present study. It is concluded that the two step method can be efficiently used for the type synthesis of mechanisms.