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Erschienen in:

2019 | OriginalPaper | Buchkapitel

Structural Synthesis of 1-DOF up to 5-Loop Kinematic Chains with Multiple Joints and Its Analysis in Robotics

verfasst von : Ekaterina Kuts, Dmitry Kuts, Vladimir Pozhbelko

Erschienen in: Mechanism, Machine, Robotics and Mechatronics Sciences

Verlag: Springer International Publishing

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Abstract

In this paper, the systematic method is developed to synthesize planar closed kinematic chains with all the possible kinds of multiple joints according to given K-independent loops and up to total multiple joint factor V_max. First, the structural synthesis method of multiple joint kinematic chains based on the combination of corresponding simple and multiple joints is presented. Then, the complete atlas database containing all valid multiple joints in closed fractionated kinematic chains with up to 5 independent loops and up to 12 links is established and illustrated. Further, corresponding all possible 14 types of multiple joint assortments up to K = 5 and up to total multiple joint factor V_max = 8 are obtained and classified in the tables for the first time. Next, the structural analysis of multiple-jointed fractionated kinematic chains with various total multiple joint factors is conducted, and main structural parameters are determinated. Finally, based on atlas database of synthesized kinematic chains with multiple joints, the examples of creation of robot manipulators are provided.

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Vorheriges Kapitel Creative Design of 2-DOF, 7-Link Multiloop Robotic Mechanisms

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Titel: Structural Synthesis of 1-DOF up to 5-Loop Kinematic Chains with Multiple Joints and Its Analysis in Robotics
verfasst von: Ekaterina Kuts
Dmitry Kuts
Vladimir Pozhbelko
Verlag: Springer International Publishing
Buch: Mechanism, Machine, Robotics and Mechatronics Sciences
Print ISBN: 978-3-319-89910-7

Electronic ISBN: 978-3-319-89911-4

Copyright-Jahr: 2019
DOI: https://doi.org/10.1007/978-3-319-89911-4_15

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