Number Synthesis of Kinematic Chains with One General Constraint
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概要
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There has been need for the synthesis of multi-mobility and multilink mechanisms in order to generate some complicated functions or paths. So it is needless to say that the number synthesis should be performed to obtain an optimum kinematic chain. In this paper, a synthesis of spatial multi-link kinematic chains with one general constraint is carried out. First, the relationships between the mobility and the number of links and joints are obtained. The basic graphs are also obtained, which correspond to the chains with undefined direction pairs. Then, graphs which contain the kinds of edges coresponding to the axes of pairs are used for the synthesis. Moreover, the "distribution rule" and the "3-plane rule" are suggested for the selection of the pair directions. As the result, the censuses of kinematic chains with two loops and one or two mobilities, and ones with three loops and one mobility are presented.
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