Latest Papers

ASME Journal of Mechanisms and Robotics

  • Special Issue: Selected Papers From IDETC-CIE 2020
    by Ben-Tzvi P, Notash L, Voglewede P. on May 3, 2021 at 12:00 am

    This special issue of the ASME Journal of Mechanisms and Robotics is a compendium of 25 of the best papers submitted and presented at the 44th ASME Mechanisms and Robotics Conference during the 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020).

Connectivity Calculation-Based Automatic Synthesis of Planar Multi-Loop Mechanisms

Abstract

The creative design of kinematic structures with excellent performance remains an open issue in the quest for developing novel multi-loop mechanisms. This study presents an automatic method to synthesize all nonisomorphic planar multi-loop mechanisms satisfying the required connectivity between the base and the end-effector. First, based on the connectivity matrix calculation, all multi-loop mechanisms are generated from synthesized kinematic chains. Second, the concepts of perimeter, canonical, and characteristic graphs of multi-color topological graphs are addressed to acquire the simplified characteristic hybrid code (SCHC) in order to eliminate isomorphic multi-loop mechanisms. Then, an automatic method to synthesize all nonisomorphic planar multi-loop mechanisms with the required connectivity between the base and the end-effector is provided. Finally, a practical application of this synthesis method is illustrated by taking the mechanical arm of a face-shovel hydraulic excavator as an example to demonstrate the effectiveness of the method.
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