A Study of Structural Representation of Mechanisms Kinematic Chains

Abstract

Kinematic chain is a combination of links connected by different kinematic pairs (joints). The study of the nature of connection among various links of a kinematic chain is known as structural analysis or topological analysis. In this paper to help the analysis, several methods of representation of the kinematic structure are presented. The study includes the functional schematic representation, structural representation, graph representation, and various matrix representations. The study is extremely useful for designer at the conceptual stage of design and research scholars in the initial stage of their research work.