Actuated degree-of-control: A new approach for mechanisms design

Abstract

The identification of feasible kinematic structures is a challenge in early stages of mechanism design. Structural characteristics, such as connectivity, redundancy and variety can be used to identify promising chains. In this paper, a new structural characteristic is proposed; the actuated degree-of-control. Initially some structural characteristics are reviewed, then the actuated degree-of-control is proposed, focusing on its definition and purpose. Examples will show how the new structural characteristic can be used to aid the designer in the design process and how it differs from previous structural characteristics. Finally, a discussion is presented, showing the key points in the actuated degree-of-control.