Kinematic synthesis using tree topologies

Edgar Simo Serra; Alba Perez-Gracia

doi:10.1016/j.mechmachtheory.2013.10.004

Kinematic synthesis using tree topologies

Edgar Simo Serra, Alba Perez-Gracia

Research output: Contribution to journal › Article

13 Citations (Scopus)

Abstract

This paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands.

Original language	English
Pages (from-to)	94-113
Number of pages	20
Journal	Mechanism and Machine Theory
Volume	72
DOIs	https://doi.org/10.1016/j.mechmachtheory.2013.10.004
Publication status	Published - 2014
Externally published	Yes

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Keywords

Graph theory
Kinematic synthesis
Tree articulated systems

ASJC Scopus subject areas

Mechanical Engineering
Mechanics of Materials
Computer Science Applications
Bioengineering

Cite this

Simo Serra, E., & Perez-Gracia, A. (2014). Kinematic synthesis using tree topologies. Mechanism and Machine Theory, 72, 94-113. https://doi.org/10.1016/j.mechmachtheory.2013.10.004

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Access to Document

10.1016/j.mechmachtheory.2013.10.004