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CHAPTER I
INTRODUCTION
Study of
and mechanisms. Checking for isomorphism at the conceptual stage will avoid
duplication in generation process.
Though many stages are involved in the creative phase of design,
Analysis and synthesis are two important phases. In kinematic Analysis the
relative motion associated with links of a mechanism or machine are studied, and
this is a critical step towards proper design of mechanisms. While in Kinematic
Synthesis, which is the reverse process of analysis, the designer generates
different alternative structures to satisfy the desired motion characteristics of an
output link for the given motion to an input link in relation to fixed link.
considers all possible types of mechanisms and selects most suited one to meet the
functional requirements, materials, manufacturing process and cost. In the second
phase i.e. Number synthesis, designer decides about the number of links, types of
joints and number of joints needed to achieve a given number of degrees of
freedom of mechanism selected in phase one. Number synthesis also involves
enumeration of all feasible kinematic structures or linkage topologies for a given
number of degrees of freedom, number of links, and type of joints. Hence this
structurally distinct kinematic chains with a given number of links and specified
degree of freedom and the other one is identification of distinct inversions that can
be obtained from a given kinematic chain.
kinematic synthesis and analysis of mechanisms had focused their attention on the
investigation of planar linkages. A substantial amount of literature is available for
planar linkages.
Freudenstein [I] in 1955, gave an appropriate but a numerical method
for dimensional synthesis of a four bar linkage.
isomorphic pair if there is one to one correspondence, if not they are nonisomorphic.
In 1966 Davies T.H. and Crossley F.E [4] obtained the censuses of
seven, nine, ten and eleven bar kinematic chains. They state that at early stage in
design process the question of dimensions is largely irrelevant both in respect to
distances between pairs and cross sections of the bodies they connect. Though
Reuleaux [5] devised a comprehensive symbolic notation capable of describing
kinematic relationships, his notation is rarely used because the graphic qualities of
drawing are entirely lost. A graphic representation of a kinematic chain is more
desirable as the number of links increases. Denavit & Hartenberg [6] worked out
a matrix fonn-taking cognizance of the different fonns of joints in the chain.
In 1967 L.S. Woo [7], gave Type synthesis of plane linkages.
enumerated plane kinematic chains (PKC) having ten links.
He
He also gave an
algorithm for deriving all PKCs from those of lower number of links. He for the
first time gave all the 230 graphs of ten links and one DOF kinematic chains
(KC).
Freudenstein F [8] in 1967 presented the basic concepts of Polya's
theory [9]. Polya's Hauptsatz is stated without proof using permutations, groups
and graphs and its use is illustrated with reference to the structural classification
of mechanisms.
PKCs and mechanisms with mobility greater than or equal to one using graphs
theory. These extensions enabled general theorems to be presented that concern
the structure of many kinematic chains including those having mobility one.
Turner J. in 1968 [ 11] gave generalized matrix functioning and
studied the graph Isomorphism. He proves that a graph is not characterized by the
Eigenvalues [12, 13, 14] of its Adjacency Matrix and gives several non-isomorphic
graphs with the same Eigen values. He therefore gives a set of Matrix functions
also known as "lmmanants" to characterize graphs for isomorphism.
Haas S.L. and Crossley F.R.E. [15] in 1969 used number synthesis of
linkages to produce a collection of linkage forms with mobility four.
The
procedure explained in four steps and to describe the same Frank's notation is
used.
In 1971 Manolescu N.J. [16] described a method of linkages census
based on transforming of Baranov Trusses into PKCs using graphisation.
Kinematic chains with m multiple joints and simple links (KCMJSL) obtained by
using dyad amplification (DA), with greater number of links but with same DOF.
This paper was presented in memory of Baranov, Dobrovolski and Artobolevski,
the founders of the modem theory of mechanisms. Baranov Truss (of zero DOF)
is a structural framework composed of pin-jointed bars or beams related by 3 *1 2 * j = 3 where l is number of bars and j is number of simple joints.
Huang M and Sony A.H [17] in 1973 used graph theory and Polya's
theory of counting to synthesise and analyze structures of planar and threedimensional kinematic chains.
structural analysis and synthesis of PKCs with kinematic elements like revolute
pairs, cam pairs, springs, belt- pulleys, piston - cylinder and gears, they
enumerated eight link KCs with above kinematic elements. They also developed
a model for analysis and synthesis of multi-loop spatial KCs with lower and
higher kinematic pairs.
Artobolevskii I.I [18] in 1974, while addressing the 13 1h ASME
Mechanisms Conference, New York besides other aspects stressed the need for
creating new mechanisms, automatic machines for the automation of manual and
intellectual labour of man.
hnks and JOmt dearances. He also stresses that the assumption of rigid link is not
vahd when the mechanism designed based on the above assumption, is operated
under high static and inertia forces.
In 1979 [24) described an easy and alternative method for the design
of spatial slides crank mechanism for function generation using minimum
standard deviation as criterion for closure error. The method is illustrated by a
numerical example with six precision points.
Mrutyunjaya T.S. and Raghavan M.R. in 1979 [25) presented a
method based on Bocher's formulae for determination of characteristic
coefficients, which are indices of isomorphism in kinematic chains. They gave a
physical meaning of these coefficients and presented algebraic test for
determining whether a chain possesses total, partial or fractionated freedom [ 10].
They also gave generalized Matrix notation to represent and analyze multiple
jointed chains.
T.S. Mruthyunjaya [26] in 1979 synthesised kinematic structures by
transformation of binary chains. This can be used to derive all possible simple
and multiple jointed chains of positive, zero or negative DOF. The method is
illustrated by applying the theory to the case of chains with DOF -1,0,1 & 2.
M. Kothari and A.C.Rao [27] in 1980 synthesised two DOF slider
crank Mechanisms for minimum structural error.
Hence special
techniques are required for this solution. They used an epicyclic gear train driven
mechanisms can be obtained from these 35 graphs with turning, prismatic and
gear pairs and having one DOF.
T. S. Mrutyunjaya in 1984 [29] gave a computerized methodology for
structural synthesis of kinematic chains in two parts. In part one he presented the
formulation of a methodology which led to the development of a computer
programme for the structural synthesis and analysis of kinematic chains with
simple joints and DOF more than zero. While, in part two he established the
reliability the above computer programme for structural synthesis and analysis of
simple jointed kinematic chains by applying the programme to several cases such
as ?link zero freedom chains, 8 and 10 link single DOF chains.
T.S. Mruthyunjaya and M.R. Raghavan in 1984 [30) used link-link
incidence Matrix to represent simple jointed kinematic chains. Algebraic methods
are developed to determine structural characteristics like - type of freedom of a
chain, the number of distinct linkages and inversions that can be derived from a
chain.
closed form solution. The mechanism designed by this method can perform with
any desired reliability. Reliability of a system can be defined as the probability
that the system will perform intended design function satisfactorily under
specified conditions. A numerical example is given to illustrate the method and
results are compared with those available. This concept can be extended to the
design of other mechanisms like cam mechanisms without any difficulty.
In 1984 [3 2] synthesised a slotted link with a flexibility-attached
The displacement
equations obtained are linear and give closed form as well as optimum design of a
mechanism. The given equation is in a convenient form for the application of the
least square methods.
In 1985 [33] gave a method to select the input and output links in
10
Logarithmic
functions or entropies, which can be used to detect isomorphism and get a clear
idea of the quality of motion transmission, are derived using circuit and cut-set
matrices. Entropy of a coefficient Matrix for a kinematic chain is an invariant and
becomes a property of the chain.
Wayne J. Sohn and Freudenstein Fin 1986 [35] applied dual graphs
to the automatic generation of the kinematic structures of mechanisms.
II
Many space mechanisms can be fonned with four links and joints
having different DOF. No measure was available to know which of the available
mechanism possess greater mobility or flexibility. Flexibility is different from
DOF. Though the mobility of a chain increases with the number of links, one is
not sure how the topology of links, types of links and joints, their number and
sequence influence the mobility. A.C.Rao in 1986 [37] combined graph theory
with the concepts of probability and developed simple equations to investigate the
relative merits of planar and spatial kinematic chains. Greater the flexibility or
mobility, higher is the ability of a kinematic chain to meet the motion
requirements. Entropy corresponds to the total connectivity of each link and for
given entropy; linkages in which all the links have equal corrnectivity have greater
flexibility.
Distinct ten-link kinematic chains are identified by C. Nageswar Rao
& A.C.Rao in 1986 [38], using an invariant obtained by the criteria of shortest
path through which motion is transmitted from joint to joint. The number of flowlinks between various joints may be arranged for a mechanism in the form of a
Matrix. The total of each row in the matrix is obtained and then the sum of all
such totals. MNL scheme is used to obtain the invariant and can be used to detect
isomorphism.
An assessment of merits and demerits of available methods for
12
This aspect is studied in 1988 [42] and proves that higher the
Hamming value the better is structural error performance of the chain. For chains
13
with the same connectivity, the chain having greater Hamming value contains
joints of greater DOF.
Hamming number method. Selection of ground, input and output links for the
specified task like path or function generation can be made. It is explained with
examples of single and multi - DOF mechanisms. Comparison of inversions is
also made.
Hwang W.M. and Hwang Y.W in 1992 [46] presented a computeraided structural synthesis of planar kinematic chains with simple joints.
This
The
14
A chain which
possesses good dynamic behaviour need not be good from viewpoint of static
behaviour.
A.C.Rao and C. Nageswar Rao in 1993 [49] made a comparison of
performance of Robotic structures. The accuracy, ease of control, size of working
space, computational effort and accessibility depend upon the structure of the
IS
open chain. A numerical approach using linkage adjacency matrices is used to rate
the linkages for their relative abilities.
Varada Raju et al in 1994 (50) gave a method for structural synthesis
of simple jointed PKCs. They presented a direct, quick and reliable method to
synthesise planar simple jointed chains, open or closed with single or multi - DOF
and with any number of links. A simple, concise and unambiguous notation is
used to represent a chain.
In 1997 [51] used Hamming number Technique to generate planar
16
available with the same number of links and DOF for consideration as in-parallel
robotic structures. In 2001 [54], presented a simple and logical method to decide
which of these chains is more in-parallel so that chain selected fulfills the
specified task such as workspace, rigidity. Measure of parallelism developed is
also used to compare distinct chains for efficiency and component velocities.
Robot arms are open chains and each joints is actuated independently.
These suffer from disadvantages like less rigidity, accumulation of mechanical
errors from shoulder to end effects, control problem etc. Platform type robots are
an alternative to open chain robot arms. In 2001 [55] proposed numerical
measures to compare all the distinct planar linkage mechanisms at the conceptual
stage of design.
parameters in different topological features of the chains viz., links, joints and
17
loops. The theory is applied to two - DOF nine link chains and three - DOF ten
link chains.
A.C.Rao and P.B. Deshmukh in 2001 [56] gave a computer aided
structural synthesis of planar kinematic chains obviating the test for Isomorphism.
Link assortment of a kinematic chain is an orderly sequence of the number of
binary, ternary, quaternary etc. links that are needed to form a chain. Important
feature of link assortment is total number of links with connectivity 3, 5, 7 etc
cannot exist in odd number with other links of even connectivity. The steps
involved in arriving at the kinematic chains are simple and straightforward and
allows the designer to visualize the generation throughout the process. The type
of freedom, full, partial etc can be known right at the time of generation. Also a
lot of saving in computer space is accomplished.
Of different
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available means of Power transmission from one shaft to another, gear trains
constitute one of the best methods, because gear trains (gears) represent a high
level of engineering achievement besides rolling contact bearings.
There are
elements and size, the gear ratio is less for an ordinary gear train, Epicyclic or
Planetary Gear Trains (EGT or PGT) are used to achieve the same or higher gear
ratio with less number of elements. An Epicyclic Gear Train (EGT) consists of
one or more central sun gears with gears in mesh with them revolving around
them like planets of sun, giving Epicyclic motion to the planets. Each planet is
associated with a link called Gear Carrier or Arm, which ensures the constant
center distance between two gears in mesh.
A Kinematic Chain with gears as elements, from which an Epicyclic
drive can be obtained by keeping one link fixed is also known as a Geared
Kinematic Chain (GKC) or an Epicyclic Chain (EC).
Because of the inherent advantages of lightweight, compactness,
differential drive and above all high-speed ratios possible with limited number of
elements, Planetary gear trains are often used in transmission systems.
19
20
The elements
representation of the mechanism shows in fig where vertices 1,2 and 3 correspond
to links 1,2 and 3 the thin edges 1-2 and 1-3 correspond to the turning pair
connecting links 1 and 2 and 1 and 3 the edge labels a and be correspond to the
joint axis locations a-a and b-b and the heavy edge 2-3 corresponds to the gear
pair connection between links 2 and 3 respective.
2 ..._ _ _. 3
Fig (1.2)
22
21
Fig. (1.3)
23
24
PGTs is clearly explained. The fundamental rules of graphs of PGTs are given by
Freudenstein and Buchsbaum [59] and are elaborated by Freudenstein [60]. He
also introduced the concept of Transfer Vertex and gave its significance. He has
also given a method for the determination of transfer vertices in a graph of PGT.
He describes linear displacement equations and rotational displacement equations.
He introduced the concepts of Rotation Graphs and Rotational Isomorphism.
Rotation graph of a PGT is obtained by deleting the Turning Pair Edges and the
labeling the each geared edge with its corresponding transfer vertex. Transfer
vertex is the vertex in a fundamental circuit incident with only turning pair edges
and all edges on one side of the transfer vertex are at the same level and edges on
opposite side are at different level. He also defined the Pseudo Isomorphism in
PGTs. Seventeen non-isomorphic single Degree Of Freedom (DOF) epicyclic
chains with up to three gear pairs i.e. five elements are listed. Their corresponding
functional (Levai Notations) representations are also given.
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Freudenstein (59]. The graphs in tum are algebraically represented by VertexVertex incidence matrices on the lines similar to that given by Uicker and Raicu
[ 19] for planar kinematic chains. Various useful concepts introduced and results
developed by earlier researchers in GKCs are combined with certain concepts in
the area of planar kinematic chains for systematic computerized synthesis of
structures of geared kinematic chains. A stepwise procedure for computerization
of the synthesis procedure for PGTs is given and the computer programme is
applied to single degree of freedom geared kinematic chains with up to four gear
pairs i.e. six elements. A different definition for rotation graph is given. The
results are in concurrence with earlier published work (59,60]. All the possible
non-isomorphic rotational graphs and non-isomorphic displacement graphs are
listed. A procedure is explained to label the turning pairs in each graph to obtain
different non-isomorphic single degree of freedom {displacement) geared
kinematic chains with up to four gear pairs. Twenty-seven distinct graphs and
eighty functional diagrams are given with levels.
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one. This new vertex is joined to different other vertices by one turning pair and
one gear pair in different possible ways. The definition of Linkage Adjacency
Matrix for a kinematic chain given by Uicker and Raicu
[19] is modified to
include gear pairs in the graph. Accordingly the GKC adjacency matrices are
written with the following rules.
I=
I i, j I= g
a [ i, j
I=
0, otherwise.
Further a[ i i I =0 .
27
Kim and Kwak (64] in 1990 applied Edge Permutations Technique for
structural synthesis of PGTs. Edge permutations which are induced from the
symmetric group of vertex permutations are used as mapping functions to check
isomorphism in graphs of PGTs. The result of the enumeration of graphs of PGTs
with up to seven elements and one degree of freedom are presented. The entire
procedure given is computerized without interactive job. While selecting a graph
from isomorphic graphs for next level, a graph with maximum number of ways of
labeling is selected. Label at a turning pair edge indicates the spatial location of
the axes joining its elements. Therefore isomorphic graphs with different edge
labeling have different mechanical structures. In their work there is concurrence
of results for graphs of PGTs with up to 6 links. For graphs of PGTs with 7 links
the generated graphs are 780, rotation graphs are 1089 and rotationally nonisomorphic graphs are 144. The resulting non-isomorphic labeled graphs listed are
642.
Olson et a! [65] in 1999 dealt with Topological Analysis of single
degree of freedom of planetary gear trains. He gave a new graph representation,
which is useful in specification of input and output links. The coincident joint
graph representation makes it possible to easily determine the number of distinct
kinematic inversions of a P.G.K.C and to recognize whether or not there exists
feasible input output links.
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29
Cheng-HO HSU and Kin-Tak Lam [67] in 1993 studied the kinematic
structure of Planetary Gear Trains with any number of degree of freedom. Graphs
are used for canonical representation of structures of PGTs by Displacement and
Rotation graphs. A single identification number used to test displacement
isomorphism in PGTs. They gave a method to identify non-fractionated multi DOF PGTs from their rotational graphs. In this paper an algorithm is given for the
automatic analysis of kinematic structure of PGTs. Olson Erdman and Riley [65]
in 1987 and 1988 proposed coincident joint graph for canonical graph
representation of PGTs. Hsu and Lam (69] in 1989 gave a new graph
representation for PGTs. ln 1989 Tsai and Lin [70] presented a method for the
identification and enumeration of kinematic structure of non-fractionated two
DOF PGTs. Hsu and Lam in their paper used the above concept for automatic
analysis of kinematic structure of Planetary Gear Train with any number of degree
of freedom. A Simpson gearbox shown in figure (1.4) is represented by a graph as
shown in figure (l.4a) and the corresponding new graph is shown in figure ( 1.4b).
In new graph representation all the joints at the same level are
represented by a multiple joint polygon instead of simple joints as in graph
representation used by other authors. This avoids the formation of Pseudoisomorphic graphs at the generation stage. For automation, the graphs are
represented by vertex-vertex adjacency matrices, both for displacement and
graphs, using definite rules given by them. He also gave linear displacement
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gear trains
Most automatic
31
Jo
Ic
6
-
tor
LJ
4
6
~
5
Fig (1.4a)
Fig (1.4)
Fig (1.4b)
32
33
Kinematic Chains. Structural errors that exist in linkages are taken as continuous
random variables and an entropy function is formulated in terms of design
parameters. Minimization of maximum entropy leads to optimum design
parameters that assume accurate performance.
A.C.Rao and D. Varada Raju [77] m 1991 developed Hamming
number Technique to defect isomorphism among kinematic chains and inversions.
The connectivity Matrix of a linkage, with zeros and ones, is formed and from that
using the rules given by them [23) Hamming number matrix is written. The
linkage Hamming sting is obtained by concatenating the linkage Hamming
number and arranging in descending order Hamming numbers of different links in
the linkage. A number of authors (48-56, 75-79] borrowed this Technique to test
isomorphism of planar linkages of different DOF and with any number of links.
The hamming matrix also reveals at a glance how many inversions are possible
out of a given chain.
B.P.Rao (78] in his doctoral thesis discussed the concept of structural
symmetry in civil structures. He defmed the term symmetry in graphs. Hamming
number matrix developed by AC. Rao and Varada Raju [77] is used to study the
34
symmetry in structures with zero and negative DOF. He has also shown the utility
of Hamming Matrix of a Graph to know the Structural symmetry in Chains.
In 2003 [79], has given a genetic algorithm for testing isomorphism in
generation of epicyclic gear trains. Quantitative measures are developed in a very
simple way using principles of genetic algorithms. These measures are utilized to
list isomorphism in PGTs and to know the characteristics like speed ratios and
transmission efficiency in a comparative sense. This will help to know the merits
and demerits of GKCs with out having to actually design fabricate and test them
for the required performance.
35
Graph theory is
extensively used for structural Analysis and synthesis of Planar Kinematic Chains.
Some studies using graph theory are available on the isomorphism of Planetary
Gear Trains. Though the gears have lion share in transmitting motion it is felt that
it has not received as much attention as linkages and hence the desire to explore
this area more in detail. Another feature that prompted this study is that even to
date there is no convergence on the number of gear trains generated with 7 & 8
elements.
All the listed or available studies on PGTs pertain to synthesis of
PGTs with two major differences, The first one in the method used for generation
of PGTs and the second one in the test used for checking isomorphism in the
generated chain. However all the pertinent study available so far will not have
much significance if quantitative methods are not developed to compare all the
distinct gear trains with the same number of elements and DOF for different
aspects. Also it is always much desirable to anticipate the behaviour of the gear
trains without having to actually design, fabricate and test them.
At present
designer depends on his intuition to select the best possible gear train and this may
not always lead to the optimum solution.
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