Based on the edge-based array representation of loops in the topological graphs of kinematic chains, this paper first proposes three arithmetic operations of loops. Then the concept of the independent loop set as well as it determination rules is introduced, and a new structure decomposition algorithm of kinematic chains is presented. Based on the algorithm, an automatic and efficient method for rigid subchain detection and driving pair selection of kinematic chains is proposed. Finally, an index is proposed to assess computation complexity of kinematic analysis with respect to different driving pair selections.
- Design Engineering Division and Computers in Engineering Division
Computer-Aided Edge Loop Theory of Kinematic Structure of Mechanisms and Its Applications
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Ding, H, Zhao, J, Li, Q, & Huang, Z. "Computer-Aided Edge Loop Theory of Kinematic Structure of Mechanisms and Its Applications." Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B. San Diego, California, USA. August 30–September 2, 2009. pp. 433-439. ASME. https://doi.org/10.1115/DETC2009-86073
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