13. Automatic Synthesis of Planar Multiple Joint Kinematic Chains

The chapter introduces a groundbreaking method for synthesizing planar multiple joint kinematic chains, which are crucial in various mechanical systems like forging manipulators and excavators. By converting the bicolor topological graphs of multiple joint kinematic chains into the topological graphs of simple joint kinematic chains, the chapter enables the direct batch synthesis of these complex chains. This innovative approach, based on established synthesis theories and atlas databases, simplifies the design process and expands the possibilities for creating mechanisms with multiple joints. The chapter also provides a detailed flowchart and practical examples, demonstrating the effectiveness of the new synthesis method. With this method, the entire family of kinematic chains with up to 16 links can be synthesized for the first time, surpassing the limitations of previous methods.