Enumeration and classification of 12-bar planar simple-jointed kinematic chains using a hierarchical approach

Eric A. Butcher, Chris Hartman

Research output: Contribution to conferencePaperpeer-review

Abstract

The complete set of 12-bar planar simple-jointed kinematic chains is enumerated using the stratified or hierarchical representation- of Fang and Freudenstien (1990) in which post-priori isomorphism testing is not needed. This is achieved by directly enumerating the simplified and contracted graphs from which the kinematic chains are built up. The number obtained is compared with those from previous studies, and the list is catagorized by the link sets and by the numbers of major vertices and edges in the simplified graphs. A major feature of the technique is the use of an efficient rule-based technique for eliminating degenerate chains.

Original languageEnglish (US)
Pages471-480
Number of pages10
DOIs
StatePublished - 2002
Externally publishedYes
Event27th Biennial Mechanisms and Robotics Conference - Montreal, Que., Canada
Duration: Sep 29 2002Oct 2 2002

Conference

Conference27th Biennial Mechanisms and Robotics Conference
CountryCanada
CityMontreal, Que.
Period9/29/0210/2/02

ASJC Scopus subject areas

  • Engineering(all)

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