Journal cover Journal topic
Mechanical Sciences An open-access journal for theoretical and applied mechanics
Journal topic

Journal metrics

Journal metrics

  • IF value: 1.052 IF 1.052
  • IF 5-year value: 1.567 IF 5-year
    1.567
  • CiteScore value: 1.92 CiteScore
    1.92
  • SNIP value: 1.214 SNIP 1.214
  • IPP value: 1.47 IPP 1.47
  • SJR value: 0.367 SJR 0.367
  • Scimago H <br class='hide-on-tablet hide-on-mobile'>index value: 18 Scimago H
    index 18
  • h5-index value: 16 h5-index 16
Supported by
Logo Library of Delft University of Technology Logo NWO
Affiliated to
Logo iftomm
Volume 6, issue 2
Mech. Sci., 6, 137–146, 2015
https://doi.org/10.5194/ms-6-137-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Mech. Sci., 6, 137–146, 2015
https://doi.org/10.5194/ms-6-137-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 12 Aug 2015

Research article | 12 Aug 2015

Representation of the kinematic topology of mechanisms for kinematic analysis

A. Müller A. Müller
  • Johannes Kepler University, Altenbergerstr. 69, 4040 Linz, Austria

Abstract. The kinematic modeling of multi-loop mechanisms requires a systematic representation of the kinematic topology, i.e. the arrangement of links and joints. A linear graph, called the topological graph, is used to this end. Various forms of this graph have been introduced for application in mechanism kinematics and multibody dynamics aiming at matrix formulations of the governing equations. For the (higher-order) kinematic analysis of mechanisms a simple yet stringent representation of the topological information is often sufficient. This paper proposes a simple concept and notation for use in kinematic analysis. Upon a topological graph, an order relation of links and joints is introduced allowing for recursive computation of the mechanism configuration. An ordering is also introduced on the topologically independent fundamental cycles. The latter is indispensable for formulating generically independent loop closure constraints. These are presented for linkages with only lower pairs, as well as for mechanisms with one higher kinematic pair per fundamental cycle. The corresponding formulation is known as cut-body and cut-joint approach, respectively.

Publications Copernicus
Download
Citation