Type Synthesis of Plane Linkages

The type synthesis of plane linkages can be formulated as a systematic enumeration of linear graphs. In this study, the concepts of a “contraction map” of a graph and of enumeration technique by permutation group are introduced in order to enumerate plane kinematic chains having 13 turning joints and 10 links. In addition, an algorithm for deriving all plane kinematic chains from those of a lower number of links is introduced.