In this paper.. a new algorithm for the computation of the connectivity in kinematic chains having total and partial mobility is presented. The adopted algorithm, based on graph theory, is able, firstly, to recognize when a kinematic chain has partial mobility and, then, to find the corresponding connectivity matrix. The new strategy consists in a recursive procedure, called "circuits gradual freezing", which detects the sets of independent loops for each grade of recursion, and assigns to each pair of vertices the weighted distance. Results have shown the feasibility of the new approach and its better performance in some difficult cases. (C) 2006 Elsevier Ltd. All rights reserved.

A method for the identification of the connectivity in multi-loop kinematic chains: Analysis of chains with total and partial mobility / A., Liberati; Belfiore, Nicola Pio. - In: MECHANISM AND MACHINE THEORY. - ISSN 0094-114X. - STAMPA. - 41:12(2006), pp. 1443-1466. [10.1016/j.mechmachtheory.2006.01.015]

A method for the identification of the connectivity in multi-loop kinematic chains: Analysis of chains with total and partial mobility

BELFIORE, Nicola Pio
2006

Abstract

In this paper.. a new algorithm for the computation of the connectivity in kinematic chains having total and partial mobility is presented. The adopted algorithm, based on graph theory, is able, firstly, to recognize when a kinematic chain has partial mobility and, then, to find the corresponding connectivity matrix. The new strategy consists in a recursive procedure, called "circuits gradual freezing", which detects the sets of independent loops for each grade of recursion, and assigns to each pair of vertices the weighted distance. Results have shown the feasibility of the new approach and its better performance in some difficult cases. (C) 2006 Elsevier Ltd. All rights reserved.
connectivity; graph; kinematic chain; partial mobility; total mobility
01 Pubblicazione su rivista::01a Articolo in rivista
A method for the identification of the connectivity in multi-loop kinematic chains: Analysis of chains with total and partial mobility / A., Liberati; Belfiore, Nicola Pio. - In: MECHANISM AND MACHINE THEORY. - ISSN 0094-114X. - STAMPA. - 41:12(2006), pp. 1443-1466. [10.1016/j.mechmachtheory.2006.01.015]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/46437
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