Theory of loop algebra on multi-loop kinematic chains and its application

DOI10.1007/S11431-007-0057-6MaRDI QIDQ2460315zbMATH OpenOpenAlexFDO

Authors Zhen Huang, Huafeng Ding

Publication date 14 November 2007

Published in Science in China. Series E (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11431-007-0057-6

zbMATH Keywords

isomorphism identificationkinematic chainloop algebraperimeter topological graph

Mathematics Subject Classification ID

Applications of Lie algebras and superalgebras to integrable systems (17B80) Kinematics of mechanisms and robots (70B15)

Review text

This paper deals with the mathematical representation and the algebra rules for the ``\(\oplus\) operation of the loops of kinematic chains. According to the characteristics of loops of kinematic chains, the algorithm to obtain loops through operation of the basic loops and the ``\(\oplus\) operation existent conditions is given. The authors adresses how to obtain the essential perimeter loops through the algebra operation of the basic loops, and further to obtain the characteristic perimeter topological graph and characteristic adjacency matrix. The advantage of the presented theory is that both the characteristic perimeter topological graph and the characteristic adjacency matrix are unique and they have one-to-one correspondence relationship with the kinematic chain. The characteristic representation of topological graphs and digitalization also provide a mathematical foundation for the establishment of the atlas database of kinematic chains.

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Cites work

• A new method to mechanism kinematic chain isomorphism identification
• Kinematic structure of mechanisms revisited.

Cited in

(7)

• Topology based rating of kinematic chains and inversions using information theory.
• Comments on mechanism kinematic chain isomorphism identification using adjacent matrices
• An algorithm for identifying the isomorphism of planar multiple joint and gear train kinematic chains
• A new theory for the topological structure analysis of kinematic chains and its applications
• Rank of loop, constraint degree of path, coupling degree of graph and their application
• A method for the identification of the connectivity in multi-loop kinematic chains: analysis of chains with total and partial mobility
• A unique representation of the kinematic chain and the atlas database

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