International Journal of Engineering, Science and Mathematics
Vol6. xIssue 8, December 2017,
ISSN: 2320-0294 Impact Factor: 6.765
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314
International Journal of Engineering, Science and Mathematics
http://www.ijesm.co.in , Email: ijesmj@gmail.com
DISTINCT MECHANISMS OF KINEMATIC CHAINS OF GROUP B
Dr. Ali Hasan
Abstract
Authoƌs oďjeĐtiǀe is to pƌepaƌe a Đatalogue of fidžed liŶk aŶd its
corresponding equivalent links in the distinct mechanisms in kinematic
chains of Group B. It will help the new researchers / designers to select the
best mechanism kinematic chain and mechanism to perform the desired
task at the conceptual stage of design.
Keywords:
Kinematic Chain;
Equivalent Link;
Distinct Mechanism
Copyright © 2017 International Journals of Multidisciplinary
Research Academy. All rights reserved.
Author correspondence:
Dr. Ali Hasan
Mechanical Engineering Department, Jamia Millia Islamia, New Delhi. India
Email:ahasan@jmi.ac.in
1. Introduction
A number of researchers have discussed structural synthesis in the earlier days. Crossley [1] proposed a
collection of 10-link plane chains. During the compiling of this collection, his greatest problem was to
distinguish whether two arrangements, which might appear unlike, were actually the same or different. This
led to a definition of isomorphism between linkages.. Mruthyunjaya [2] made an effort to develop a fully
computerized approach for structural synthesis of kinematic chains. Agrawal and Rao [3] investigated a
systematic method of analysis of the mobility properties of the kinematic chains by its loop freedom matrix
and its permanent function which are used to identify it. Sethi and Agrawal [4] proposed a classification
scheme on the basis of structural properties. Madan and Jain [5] considered the kinematic chains-
isomorphism, inversions and degree of similarity using the concept of connectivity. Rao [6] threw the light
on the enumeration of distinct planar kinematic chains. They developed a very simple method based on
independent loop(s) assorted and their adjacency is reported. Misti [7] presented the position analysis in
polynomial form of planar mechanisms with Assur groups of class 3 including revolute and prismatic joints.
Uicker and Raicu [8] presented a method for the identification and recognition of equivalence of kinematic
chains. Later on, this method failed. Mruthyunjaya and Balasubramanian [9] proved that the method
proposed by Uicker and Raicu [8] is not reliable. They proved that the test based on comparison of the
characteristic coefficients of the adjacency matrices of the corresponding graphs for detection of
isomorphism in kinematic chains failed. Shende and Rao [10] work, which deals with the problem of
detection of isomorphism which is frequently encountered in structural synthesis of kinematic chains.Chu
Jin-Kui and Cao Wei-Qing [11] proposed a method for identification of isomorphism among kinematic
ĐhaiŶs aŶd iŶǀeƌsioŶs usiŶg LiŶks adjaĐeŶt-chain-table. Yadav, et.al. [12] Proposed a computer aided
detection method of isomorphism among kinematic chains and mechanisms using the concept of modified
distance. Yadav, et.al.[13] presented a paper mechanism of a kinematic chain and the degree of structural