Structural Synthesis of Planar 10-Link 1-DOF Kinematic Chains with up to Pentagonal Links with All Possible Multiple Joint Assortments for Mechanism Design

In this paper, a new method is proposed for structural synthesis of planar closed kinematic chains with all the possible kinds of multiple joints according to given number K-independent loops up to maximum multiple joint factor V_max(K). At first, the new procedure for structural synthesis of non-fractionated and fractionated multiple joint kinematic chains based on the combination of corresponding simple and multiple joints is presented. Then the atlas database with all the possible kinds of multiple joints containing various 24 (case K = 4) multiple joint non-fractionated and fractionated structures is established and illustrated. Next, all the possible multiple joint assortments ([M.J.A.]) for non-fractionated as well as fractionated 10-link 1-DOF multiple joint kinematic chains with up to pentagonal links with K = 4 and up to V_max = 6 are synthesized and separated for the first time. Finally, the complete structural analysis of multiple joint kinematic chains for industrial application in 10-link manipulators designed from the atlas of synthesized multiple joint kinematic chains is conducted.