A rigidity approach to find distinct mechanisms of a planar kinematic chain. (2021)

• Record Type: Journal Article
• Authors: Kamesh, Vinjamuri Venkata; Prasad, D.V.S.S.S.V.; Ranjit, P.S.; Varaprasad, Bh.; Srinivasa Rao, V.
• Is Part Of: Materials today. Volume 43:Part 1(2021)
• Page Start: 388
• Page End: 394
• Publication Date: 2021
• Subjects: Robotic manipulator -- Gripper -- Distinct mechanism -- Rigidity -- Degree of Freedom; Materials science -- Congresses -- Periodicals; 620.1
• DOI: 10.1016/j.matpr.2020.11.684
• Languages: English
• ISSNs: 2214-7853

Abstract

Abstract: In the type synthesis of kinematic chains, identification of distinct mechanisms of a kinematic chain is an important step. The links which are having same functional behavior are grouped as same inversion. In the present paper, a novel algorithm based on the Rigidity concept is proposed. Three parameters are defined in the present algorithm namely Primary Connectivity Index (PCI), Secondary Connectivity Index (SCI) and Net Connectivity Index (NCI). The proposed method is tested on various linkages (8, 9, 10) with different Degree of Freedom (DoF) and the results are in correlation with earlier literature. 8-link 1-dof chains findings are presented as an example for the proposed method.