On the Application of Kinematic Units to the Topological Analysis of Geared Mechanisms

Abstract

Based on the concept of kinematic fractionation, a systematic method for the topological analysis of geared mechanisms is presented in this paper. It is shown that a geared kinematic chain (GKC) can be regarded as a combination of kinematic unit(s). By identifying the embedded kinematic units, kinematic insight in the GKC can be exposed. The disclosed information leads to straightforward and promising rules to prevent redundant links. These rules form the basis of a by-inspection procedure to determine admissible assignments of the ground, input and output links in a GKC. Admissible assignments of the ground, input and output links of one degree-of-freedom 5 link GKCs are determined as an illustrative example.