Abstracto

Study on Graphs of Kinematic Chains

Dr. Ali Hasan

In this paper the author used graph theory and combinatorial analysis for enumeration of graphs of kinematic chains. Contracted graphs with up to four loops and six vertices are provided in Table 4. Based on the concept of expansion from contracted graphs, conventional graphs are generated. Conventional graphs with up to three independent loops and eight vertices are tabulated in Tables 5,6,7, and 8.. Using this collection, a large number of mechanisms can be developed by labelling the edges of the graphs according to the available joint types and the choice of fixed links.