A rigidity approach to find distinct mechanisms of a planar kinematic chain

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 para...

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Bibliographic Details
Main Authors: Kamesh, Vinjamuri Venkata, Prasad, D.V.S.S.S.V., Ranjit, P.S., Varaprasad, Bh, Srinivasa Rao, V.
Format: Conference Proceeding
Language:English
Subjects:
Degree of Freedom
Distinct mechanism
Gripper
Rigidity
Robotic manipulator
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Summary: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.
ISSN:2214-7853
2214-7853
DOI:10.1016/j.matpr.2020.11.684