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Representation of the Kinematic Topology of Mechanisms for Kinematic Analysis : Volume 6, Issue 2 (12/08/2015)

By Müller, A.

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Book Id: WPLBN0003983546
Format Type: PDF Article :
File Size: Pages 10
Reproduction Date: 2015

Title: Representation of the Kinematic Topology of Mechanisms for Kinematic Analysis : Volume 6, Issue 2 (12/08/2015)  
Author: Müller, A.
Volume: Vol. 6, Issue 2
Language: English
Subject: Science, Mechanical, Sciences
Collections: Periodicals: Journal and Magazine Collection, Copernicus GmbH
Publication Date:
Publisher: Copernicus Gmbh, Göttingen, Germany
Member Page: Copernicus Publications


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Müller, A. (2015). Representation of the Kinematic Topology of Mechanisms for Kinematic Analysis : Volume 6, Issue 2 (12/08/2015). Retrieved from

Description: Johannes Kepler University, Altenbergerstr. 69, 4040 Linz, Austria. The kinematic modeling of multi-loop mechanisms requires a systematic representation of the kinematic topology, i.e. the arrangement of links and joints. A linear graph, called the topological graph, is used to this end. Various forms of this graph have been introduced for application in mechanism kinematics and multibody dynamics aiming at matrix formulations of the governing equations. For the (higher-order) kinematic analysis of mechanisms a simple yet stringent representation of the topological information is often sufficient. This paper proposes a simple concept and notation for use in kinematic analysis. Upon a topological graph, an order relation of links and joints is introduced allowing for recursive computation of the mechanism configuration. An ordering is also introduced on the topologically independent fundamental cycles. The latter is indispensable for formulating generically independent loop closure constraints. These are presented for linkages with only lower pairs, as well as for mechanisms with one higher kinematic pair per fundamental cycle. The corresponding formulation is known as cut-body and cut-joint approach, respectively.

Representation of the kinematic topology of mechanisms for kinematic analysis

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